118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
11.1s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | 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 | 46 errors · 10951 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780433099.30721068 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433099.87170792 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X___X] + 0.77sINFOros2_control_node[2026-06-02 20:45:00.072] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-02 20:45:00.072] [info] Accepted new action goal + 2.04sINFOobjective_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 + 2.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal ×2688 + 5.01sINFOjoint_trajectory_controllerAccepted new action goal ×2665 + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2688 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2665 + 9.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.23sINFOjoint_trajectory_controllerGoal reached, success! ×100 + 9.23sINFOros2_control_nodeGoal reached, success![0m ×100 + 13.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.61% of iterations over budget over 3:10.005 of wall time (355/58021). Below 1% is expected on a non-realtime system.[0m + 41.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.227521) + 41.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.227521)[0m + 41.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.247521) + 41.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.247521)[0m + 41.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.257521) ×2 + 41.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.257521)[0m ×2 + 42.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.667521) ×2 + 42.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.667521)[0m ×2 + 42.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.897521) + 42.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.897521)[0m + 42.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.917521) + 42.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.917521)[0m + 43.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.337521) + 43.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.337521)[0m + 43.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.377521) + 43.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.377521)[0m + 43.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.497521) + 43.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.497521)[0m + 43.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.507521) + 43.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.507521)[0m + 43.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.557521) + 43.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.557521)[0m + 43.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.717521) + 43.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.717521)[0m + 43.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.727521) + 43.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.727521)[0m + 43.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.747521) + 43.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.747521)[0m + 43.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.217521) + 43.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.217521)[0m + 44.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.367521) + 44.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.367521)[0m + 44.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.407521) ×2 + 44.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.407521)[0m ×2 + 44.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.547521) ×2 + 44.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.547521)[0m ×2 + 44.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.697521) + 44.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.697521)[0m + 44.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433143.74287677 seconds ×2 + 45.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433144.43069959 seconds. ×2 + 45.18sINFOobjective_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 + 45.27sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 45.28sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 45.29sINFOros2_control_node[2026-06-02 20:45:44.596] [info] Received new action goal + 45.29sINFOros2_control_node[2026-06-02 20:45:44.596] [info] Accepted new action goal | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.9s | 112 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433042.06154180 seconds. ×2 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.749907050 [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 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.750004762 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258121031 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258160862 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-02 20:44:03.373054919 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375312177 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375336488 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.25sINFOobjective_server_node[0;93m2026-06-02 20:44:03.715533413 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733109377 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733151528 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433044.59461379 seconds ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433045.41772652 seconds. ×2 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 4.03sINFOobjective_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 + 4.04sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Accepted new action goal + 7.03sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 7.05sINFOros2_control_node[2026-06-02 20:44:08.514] [info] Received new action goal + 7.05sINFOros2_control_node[2026-06-02 20:44:08.515] [info] Accepted new action goal + 10.20sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.21sINFOros2_control_node[2026-06-02 20:44:11.682] [info] Received new action goal + 10.21sINFOros2_control_node[2026-06-02 20:44:11.683] [info] Accepted new action goal + 10.87sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 2:10.004 of wall time (202/39826). Below 1% is expected on a non-realtime system.[0m + 13.18sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 13.19sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.22sINFOros2_control_node[2026-06-02 20:44:14.684] [info] Received new action goal + 13.22sINFOros2_control_node[2026-06-02 20:44:14.684] [info] Accepted new action goal + 16.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 23.68sINFOobjective_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 + 24.67sINFOros2_control_node[2026-06-02 20:44:26.137] [info] Received new action goal + 24.67sINFOros2_control_node[2026-06-02 20:44:26.137] [info] Accepted new action goal + 25.86sINFOobjective_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 + 25.87sINFOobjective_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 + 26.16sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 26.19sINFOros2_control_node[2026-06-02 20:44:27.659] [info] Received new action goal + 26.19sINFOros2_control_node[2026-06-02 20:44:27.659] [info] Accepted new action goal + 28.45sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 28.45sINFOobjective_server_nodePath shortcutter: [X__________X] + 28.46sINFOros2_control_node[2026-06-02 20:44:29.926] [info] Received new action goal + 28.46sINFOros2_control_node[2026-06-02 20:44:29.926] [info] Accepted new action goal + 31.54sINFOros2_control_node[2026-06-02 20:44:33.006] [info] Received new action goal + 31.54sINFOros2_control_node[2026-06-02 20:44:33.006] [info] Accepted new action goal + 34.12sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). + 34.13sINFOobjective_server_nodePath shortcutter: [X________________X] + 34.15sINFOros2_control_node[2026-06-02 20:44:35.621] [info] Received new action goal + 34.15sINFOros2_control_node[2026-06-02 20:44:35.621] [info] Accepted new action goal + 44.92sINFOros2_control_node[2026-06-02 20:44:46.392] [info] Received new action goal + 44.92sINFOros2_control_node[2026-06-02 20:44:46.392] [info] Accepted new action goal + 46.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780433087.55303574 seconds ×2 + 46.84sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780433088.30706215 seconds. ×2 + 48.11sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 48.12sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 48.13sINFOros2_control_node[2026-06-02 20:44:49.598] [info] Received new action goal + 48.13sINFOros2_control_node[2026-06-02 20:44:49.598] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 42.2s | 2 errors · 68 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Accepted new action goal + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Got request to cancel active goal. + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Canceling active goal... + 0.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432941.37376332 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432941.93511438 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432942.07523704 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432942.74558973 seconds. ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Accepted new action goal + 37.73sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 37.73sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 37.74sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 38.04sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). + 38.04sINFOobjective_server_nodePath shortcutter: [X___________X] + 38.05sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 38.07sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 38.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 38.13sINFOobjective_server_nodeFound path in 1 iterations (0.00248857 s). + 38.21sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 38.26sINFOros2_control_node[2026-06-02 20:42:58.694] [info] Received new action goal + 38.27sINFOros2_control_node[2026-06-02 20:42:58.694] [info] Accepted new action goal + 40.79sINFOros2_control_node[2026-06-02 20:43:01.216] [info] Received new action goal + 40.79sINFOros2_control_node[2026-06-02 20:43:01.216] [info] Accepted new action goal + 42.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 42.55sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Received new action goal + 42.55sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Accepted new action goal + 43.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780432984.36421299 seconds ×2 + 44.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432984.95654774 seconds. ×2 + 44.62sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432985.04668903 seconds ×2 + 45.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432985.69731331 seconds. ×2 + 45.39sINFOobjective_server_nodePath shortcutter: [X_____________X] + 45.39sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Received new action goal + 45.39sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 34.2s | 884 errors · 7134 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×1520 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1078 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1078 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×1519 + 0.03sINFOjoint_trajectory_controllerGoal reached, success! ×950 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×950 + 0.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.383209) ×2 + 0.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.383209)[0m ×2 + 0.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.433209) + 0.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.433209)[0m + 0.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.593209) ×2 + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.593209)[0m ×2 + 0.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.603209) + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.603209)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.623209) + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.623209)[0m + 0.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.673209) + 0.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.673209)[0m + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.803209) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.803209)[0m + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.833209) + 0.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.833209)[0m + 0.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.853209) + 0.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.853209)[0m + 0.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.943209) + 0.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.953209) + 0.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.943209)[0m + 0.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.953209)[0m + 0.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.013209) + 0.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.023209) + 0.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.013209)[0m + 0.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.023209)[0m + 0.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.043209) + 0.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.043209)[0m + 0.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.093209) + 0.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.093209)[0m + 0.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.143209) + 0.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.143209)[0m + 0.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.213209) + 0.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.213209)[0m + 0.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.233209) + 0.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.243209) + 0.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.233209)[0m + 0.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.243209)[0m + 0.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.273209) + 0.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.273209)[0m + 0.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.293209) + 0.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.293209)[0m + 1.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.353209) + 1.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.353209)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.373209) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.373209)[0m + 1.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.393209) + 1.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.393209)[0m + 1.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.413209) + 1.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.413209)[0m + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.433209) + 1.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.433209)[0m + 1.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.683209) + 1.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.683209)[0m + 1.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.693209) + 1.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.693209)[0m + 1.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.723209) + 1.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.723209)[0m + 1.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.743209) ×2 + 1.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.743209)[0m ×2 + 1.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.843209) + 1.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.843209)[0m + 1.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.863209) + 1.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.863209)[0m + 1.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.903209) + 1.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.913209) + 1.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.903209)[0m + 1.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.913209)[0m + 1.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.063209) + 1.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.063209)[0m + 1.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.073209) + 1.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.083209) + 1.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.073209)[0m + 1.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.083209)[0m + 1.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.103209) + 1.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.103209)[0m + 1.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.113209) + 1.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.113209)[0m + 2.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.313209) ×2 + 2.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.313209)[0m ×2 + 2.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.343209) + 2.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.343209)[0m + 2.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.393209) + 2.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.393209)[0m + 2.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.443209) + 2.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.443209)[0m + 2.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.463209) + 2.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.463209)[0m + 2.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.503209) + 2.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.503209)[0m + 2.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.513209) + 2.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.513209)[0m + 2.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.533209) + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.533209)[0m + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.613209) + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.623209) + 2.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.613209)[0m + 2.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.623209)[0m + 2.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.653209) + 2.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.653209)[0m + 2.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.683209) + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.683209)[0m + 2.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.723209) + 2.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.723209)[0m + 2.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.753209) ×2 + 2.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.753209)[0m ×2 + 2.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.773209) + 2.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.773209)[0m + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.843209) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.843209)[0m + 2.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.863209) + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.863209)[0m + 2.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.903209) + 2.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.913209) + 2.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.903209)[0m + 2.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.913209)[0m + 2.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.053209) ×2 + 2.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.053209)[0m ×2 + 2.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.183209) + 2.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.183209)[0m + 2.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.203209) + 2.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.203209)[0m + 2.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.233209) + 2.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.233209)[0m + 2.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.253209) + 2.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.253209)[0m + 3.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.333209) + 3.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.333209)[0m + 3.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.353209) + 3.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.353209)[0m + 3.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.393209) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.393209)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.403209) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.403209)[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.423209) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.423209)[0m + 3.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.543209) + 3.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.543209)[0m + 3.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433168.55449533 seconds ×2 + 3.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.563209) + 3.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.563209)[0m + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.573209) + 3.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.583209) + 3.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.573209)[0m + 3.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.593209) + 3.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.583209)[0m + 3.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.593209)[0m + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780433169.17239070 seconds. ×2 + 3.94sINFOobjective_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 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.04sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 4.05sINFOros2_control_node[2026-06-02 20:46:09.368] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-02 20:46:09.368] [info] Accepted new action goal + 7.03sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.71% of iterations over budget over 4:10.008 of wall time (542/76103). Below 1% is expected on a non-realtime system.[0m + 9.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.82sINFOros2_control_node[2026-06-02 20:46:15.131] [info] Received new action goal + 9.82sINFOros2_control_node[2026-06-02 20:46:15.131] [info] Accepted new action goal + 12.27sINFOros2_control_node[2026-06-02 20:46:17.580] [info] Received new action goal + 12.27sINFOros2_control_node[2026-06-02 20:46:17.580] [info] Accepted new action goal + 17.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 17.44sINFOobjective_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 + 20.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433185.832292) + 20.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433185.832292)[0m + 20.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433185.852292) + 20.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433185.852292)[0m + 20.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433185.862292) + 20.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433185.862292)[0m + 20.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.102292) + 20.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.102292)[0m + 20.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.112292) ×2 + 20.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.112292)[0m ×2 + 20.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.162292) + 20.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.162292)[0m + 20.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.172292) + 20.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.172292)[0m + 20.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.262292) + 20.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.262292)[0m + 20.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.282292) + 20.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.282292)[0m + 20.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.302292) + 20.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.302292)[0m + 21.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.502292) + 21.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.502292)[0m + 21.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.702292) + 21.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.702292)[0m + 21.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.722292) + 21.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.722292)[0m + 21.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.732292) + 21.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.732292)[0m + 21.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.752292) + 21.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.752292)[0m + 21.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.832292) + 21.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.832292)[0m + 21.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.852292) + 21.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.852292)[0m + 21.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.872292) + 21.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.872292)[0m + 21.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.892292) + 21.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.892292)[0m + 21.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.912292) ×2 + 21.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.912292)[0m ×2 + 21.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.992292) + 21.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433186.992292)[0m + 21.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.132292) + 21.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.132292)[0m + 21.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.162292) + 21.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.162292)[0m + 21.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.172292) + 21.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.182292) + 21.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.172292)[0m + 21.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.182292)[0m + 21.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.202292) + 21.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.202292)[0m + 21.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.272292) + 21.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.272292)[0m + 21.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.302292) + 21.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.302292)[0m + 22.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.322292) + 22.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.322292)[0m + 22.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.352292) + 22.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.352292)[0m + 22.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.512292) + 22.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.512292)[0m + 22.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.532292) + 22.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.542292) ×2 + 22.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.532292)[0m + 22.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.542292)[0m ×2 + 22.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.602292) + 22.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.602292)[0m + 22.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.612292) + 22.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.612292)[0m + 22.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.692292) + 22.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.692292)[0m + 22.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.712292) + 22.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.712292)[0m + 22.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.722292) + 22.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.732292) + 22.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.722292)[0m + 22.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.732292)[0m + 22.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.852292) + 22.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.862292) + 22.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.852292)[0m + 22.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.862292)[0m + 22.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.912292) + 22.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.922292) + 22.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.912292)[0m + 22.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.922292)[0m + 22.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.952292) + 22.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.952292)[0m + 22.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.992292) + 22.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433187.992292)[0m + 22.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.042292) + 22.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.042292)[0m + 22.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.132292) + 22.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.132292)[0m + 22.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.152292) + 22.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.152292)[0m + 22.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.172292) ×2 + 22.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.172292)[0m ×2 + 22.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.202292) + 22.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.202292)[0m + 22.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.272292) + 22.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.272292)[0m + 22.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.292292) + 22.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.292292)[0m + 23.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.322292) + 23.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.332292) + 23.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.322292)[0m + 23.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.332292)[0m + 23.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.352292) + 23.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.362292) + 23.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.352292)[0m + 23.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.362292)[0m + 23.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.442292) + 23.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.442292)[0m + 23.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.572292) + 23.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.572292)[0m + 23.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.592292) + 23.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.592292)[0m + 23.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.612292) + 23.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.612292)[0m + 23.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.622292) + 23.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.622292)[0m + 23.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.642292) + 23.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.642292)[0m + 23.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.722292) + 23.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.722292)[0m + 23.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.732292) + 23.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.732292)[0m + 23.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.782292) + 23.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.782292)[0m + 23.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.802292) + 23.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.802292)[0m + 23.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.962292) ×2 + 23.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.962292)[0m ×2 + 23.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.982292) + 23.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.982292)[0m + 23.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.992292) + 23.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433188.992292)[0m + 23.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.042292) + 23.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.042292)[0m + 23.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.142292) + 23.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.142292)[0m + 24.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.342292) + 24.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.342292)[0m + 24.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.362292) + 24.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.362292)[0m + 24.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.382292) + 24.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.382292)[0m + 24.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.392292) + 24.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.392292)[0m + 24.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.432292) + 24.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.432292)[0m + 24.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.482292) + 24.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.482292)[0m + 24.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.582292) + 24.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.582292)[0m + 24.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.602292) ×2 + 24.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.602292)[0m ×2 + 24.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.632292) + 24.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.632292)[0m + 24.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.722292) + 24.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.722292)[0m + 24.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.732292) + 24.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.732292)[0m + 24.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.762292) + 24.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.762292)[0m + 24.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.782292) + 24.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.782292)[0m + 24.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.792292) + 24.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.792292)[0m + 24.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.872292) + 24.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.872292)[0m + 24.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.992292) + 24.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433189.992292)[0m + 24.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.022292) + 24.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.022292)[0m + 24.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.042292) + 24.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.042292)[0m + 24.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.062292) ×2 + 24.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.062292)[0m ×2 + 24.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.152292) + 24.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.152292)[0m + 24.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.172292) + 24.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.172292)[0m + 24.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.192292) + 24.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.192292)[0m + 24.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.212292) + 24.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.212292)[0m + 24.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.232292) + 24.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.232292)[0m + 24.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.242292) + 24.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.242292)[0m + 25.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.402292) + 25.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.402292)[0m + 25.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.422292) + 25.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.432292) ×2 + 25.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.422292)[0m + 25.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.432292)[0m ×2 + 25.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.572292) + 25.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.572292)[0m + 25.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.592292) + 25.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.592292)[0m + 25.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.612292) + 25.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.612292)[0m + 25.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.632292) + 25.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.632292)[0m + 25.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.732292) + 25.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.742292) + 25.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.732292)[0m + 25.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.742292)[0m + 25.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.792292) + 25.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.792292)[0m + 25.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.882292) + 25.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433190.882292)[0m + 25.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.032292) + 25.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.032292)[0m + 25.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.052292) + 25.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.052292)[0m + 25.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.062292) + 25.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.072292) + 25.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.062292)[0m + 25.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.072292)[0m + 25.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.152292) + 25.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.162292) + 25.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.152292)[0m + 25.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.162292)[0m + 25.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.182292) + 25.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.182292)[0m + 25.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.202292) + 25.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.202292)[0m + 25.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.222292) + 25.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.222292)[0m + 25.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.232292) + 25.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.232292)[0m + 26.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.462292) + 26.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.462292)[0m + 26.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.512292) ×2 + 26.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.512292)[0m ×2 + 26.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.612292) ×2 + 26.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.612292)[0m ×2 + 26.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.672292) + 26.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.672292)[0m + 26.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.832292) + 26.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.832292)[0m + 26.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.842292) + 26.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.852292) + 26.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.842292)[0m + 26.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.862292) + 26.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.852292)[0m + 26.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.862292)[0m + 26.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.912292) + 26.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433191.912292)[0m + 26.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.022292) + 26.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.022292)[0m + 26.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.182292) + 26.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.182292)[0m + 26.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.222292) + 26.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.222292)[0m + 26.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.232292) + 26.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.242292) + 26.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.232292)[0m + 26.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.242292)[0m + 26.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.262292) + 26.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.262292)[0m + 27.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.312292) + 27.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.312292)[0m + 27.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.502292) + 27.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.502292)[0m + 27.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.602292) + 27.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.612292) ×2 + 27.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.602292)[0m + 27.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.612292)[0m ×2 + 27.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.642292) + 27.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.642292)[0m + 27.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.662292) + 27.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.662292)[0m + 27.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.752292) ×2 + 27.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.752292)[0m ×2 + 27.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.972292) + 27.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433192.972292)[0m + 27.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.042292) + 27.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.052292) + 27.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.042292)[0m + 27.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.052292)[0m + 27.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.072292) + 27.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.072292)[0m + 27.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.122292) + 27.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.122292)[0m + 27.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.142292) + 27.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.142292)[0m + 27.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.292292) + 27.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.292292)[0m + 28.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.302292) + 28.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.312292) + 28.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.322292) + 28.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.302292)[0m + 28.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.312292)[0m + 28.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.322292)[0m + 28.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.372292) + 28.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.372292)[0m + 28.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.482292) + 28.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.482292)[0m + 28.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.502292) ×2 + 28.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.502292)[0m ×2 + 28.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.522292) + 28.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.522292)[0m + 28.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.622292) + 28.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.622292)[0m + 28.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.642292) + 28.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.642292)[0m + 28.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.682292) + 28.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.682292)[0m + 28.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.692292) + 28.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.702292) + 28.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.692292)[0m + 28.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.702292)[0m + 28.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.722292) + 28.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.722292)[0m + 28.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.762292) + 28.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.762292)[0m + 28.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.802292) + 28.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.802292)[0m + 28.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.822292) + 28.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.822292)[0m + 28.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.882292) + 28.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.882292)[0m + 28.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.912292) + 28.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.912292)[0m + 28.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.932292) ×2 + 28.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.942292) + 28.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.932292)[0m ×2 + 28.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.942292)[0m + 28.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.962292) + 28.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433193.962292)[0m + 28.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.042292) + 28.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.052292) + 28.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.042292)[0m + 28.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.052292)[0m + 28.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.082292) + 28.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.082292)[0m + 28.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.102292) ×2 + 28.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.102292)[0m ×2 + 28.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.202292) + 28.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.202292)[0m + 28.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.222292) + 28.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.222292)[0m + 29.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.322292) + 29.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.332292) + 29.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.322292)[0m + 29.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.332292)[0m + 29.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.372292) + 29.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.372292)[0m + 29.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.412292) + 29.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.412292)[0m + 29.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.532292) + 29.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.532292)[0m + 29.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.542292) + 29.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.542292)[0m + 29.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.552292) + 29.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.552292)[0m + 29.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.572292) + 29.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.572292)[0m + 29.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.592292) + 29.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.592292)[0m + 29.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.712292) + 29.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.712292)[0m + 29.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.732292) + 29.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.732292)[0m + 29.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.752292) ×2 + 29.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.752292)[0m ×2 + 29.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.762292) + 29.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.762292)[0m + 29.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.772292) + 29.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.772292)[0m + 29.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.842292) + 29.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.842292)[0m + 29.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.932292) + 29.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.932292)[0m + 29.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.952292) + 29.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.952292)[0m + 29.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.972292) + 29.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433194.972292)[0m + 29.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.112292) + 29.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.112292)[0m + 29.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.152292) + 29.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.152292)[0m + 29.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.172292) + 29.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.172292)[0m + 29.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.192292) + 29.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.192292)[0m + 29.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.242292) + 29.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.242292)[0m + 29.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.262292) + 29.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.262292)[0m + 29.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.282292) + 29.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.282292)[0m + 29.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.302292) + 29.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.302292)[0m + 30.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.392292) + 30.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.392292)[0m + 30.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.402292) + 30.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.402292)[0m + 30.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.422292) + 30.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.422292)[0m + 30.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.442292) ×2 + 30.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.442292)[0m ×2 + 30.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.452292) + 30.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.452292)[0m + 30.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.522292) + 30.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.532292) + 30.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.542292) + 30.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.522292)[0m + 30.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.532292)[0m + 30.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.542292)[0m + 30.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.572292) + 30.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.582292) + 30.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.572292)[0m + 30.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.582292)[0m + 30.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.602292) + 30.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.602292)[0m + 30.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.692292) + 30.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.692292)[0m + 30.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.712292) + 30.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.712292)[0m + 30.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.822292) + 30.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.822292)[0m + 30.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.852292) + 30.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.852292)[0m + 30.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.872292) + 30.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.872292)[0m + 30.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.882292) + 30.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.892292) + 30.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.882292)[0m + 30.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.892292)[0m + 30.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.912292) + 30.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433195.912292)[0m + 30.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.012292) + 30.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.012292)[0m + 30.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.032292) + 30.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.032292)[0m + 30.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.052292) + 30.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.052292)[0m + 30.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.062292) + 30.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.072292) + 30.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.062292)[0m + 30.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.072292)[0m + 30.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.092292) + 30.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.092292)[0m + 30.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.232292) + 30.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.242292) + 30.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.232292)[0m + 30.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.242292)[0m + 30.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.252292) ×2 + 30.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.262292) + 30.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.252292)[0m ×2 + 30.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.262292)[0m + 30.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.302292) + 30.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.302292)[0m + 31.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.322292) + 31.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.322292)[0m + 31.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.432292) + 31.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.432292)[0m + 31.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.472292) + 31.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.472292)[0m + 31.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.512292) + 31.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.512292)[0m + 31.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.842292) + 31.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.842292)[0m + 31.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.882292) + 31.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.882292)[0m + 31.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.902292) + 31.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.902292)[0m + 31.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.922292) + 31.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.922292)[0m + 31.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.942292) + 31.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433196.942292)[0m + 31.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.002292) + 31.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.012292) + 31.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.022292) + 31.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.002292)[0m + 31.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.012292)[0m + 31.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.022292)[0m + 31.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.042292) + 31.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.042292)[0m + 31.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.062292) + 31.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.062292)[0m + 31.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.162292) ×2 + 31.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.162292)[0m ×2 + 31.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.192292) + 31.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.202292) + 31.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.192292)[0m + 31.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.202292)[0m + 32.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.372292) + 32.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.372292)[0m + 32.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.502292) + 32.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.502292)[0m + 32.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.522292) ×2 + 32.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.522292)[0m ×2 + 32.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.562292) ×2 + 32.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.562292)[0m ×2 + 32.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.712292) + 32.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.722292) ×2 + 32.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.712292)[0m + 32.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.732292) + 32.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.722292)[0m ×2 + 32.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.732292)[0m + 32.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.752292) + 32.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.752292)[0m + 32.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.792292) + 32.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433197.792292)[0m + 32.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.092292) + 32.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.092292)[0m + 32.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.172292) + 32.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.172292)[0m + 32.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.232292) + 32.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.232292)[0m + 33.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.362292) + 33.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.362292)[0m + 33.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.472292) + 33.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.472292)[0m + 33.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.492292) + 33.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.502292) + 33.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.492292)[0m + 33.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.502292)[0m + 33.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.512292) + 33.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.532292) + 33.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.512292)[0m + 33.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.532292)[0m + 33.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.552292) ×2 + 33.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.552292)[0m ×2 + 33.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.632292) + 33.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.632292)[0m + 33.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.652292) + 33.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.662292) + 33.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.652292)[0m + 33.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.662292)[0m + 33.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.692292) + 33.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.692292)[0m + 33.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.702292) + 33.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.702292)[0m + 33.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.832292) + 33.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.832292)[0m + 33.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.852292) + 33.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.852292)[0m + 33.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.872292) ×2 + 33.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.872292)[0m ×2 + 33.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.892292) + 33.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.892292)[0m + 33.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.912292) + 33.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.912292)[0m + 33.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.992292) + 33.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.002292) + 33.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433198.992292)[0m + 33.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.002292)[0m + 33.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.042292) + 33.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.042292)[0m + 33.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.062292) + 33.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.062292)[0m + 33.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.202292) + 33.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.212292) + 33.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.202292)[0m + 33.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.212292)[0m + 33.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.232292) ×2 + 33.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.242292) + 33.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.232292)[0m ×2 + 33.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.242292)[0m + 33.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.282292) + 33.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.282292)[0m + 34.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.662292) + 34.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.662292)[0m + 34.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.702292) + 34.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.702292)[0m + 34.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.852292) + 34.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.852292)[0m + 34.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.872292) + 34.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.872292)[0m + 34.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.892292) ×2 + 34.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.892292)[0m ×2 + 34.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.952292) + 34.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.952292)[0m + 34.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.972292) + 34.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.982292) + 34.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.972292)[0m + 34.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.982292)[0m + 34.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.002292) + 34.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.002292)[0m + 34.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.022292) + 34.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.022292)[0m + 34.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.042292) + 34.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.042292)[0m + 34.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.132292) ×2 + 34.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.132292)[0m ×2 + 34.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.172292) + 34.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.172292)[0m + 35.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.502292) ×2 + 35.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.502292)[0m ×2 + 35.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.532292) + 35.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.532292)[0m + 35.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.552292) + 35.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.552292)[0m + 35.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.692292) + 35.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.692292)[0m + 35.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.712292) + 35.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.722292) ×2 + 35.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.712292)[0m + 35.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.732292) + 35.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.722292)[0m ×2 + 35.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.732292)[0m + 35.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.752292) + 35.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.752292)[0m + 35.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.782292) + 35.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.782292)[0m + 35.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.172292) + 35.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.172292)[0m + 35.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.192292) + 35.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.192292)[0m + 36.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.422292) + 36.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.422292)[0m + 36.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.442292) + 36.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.442292)[0m + 36.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.502292) + 36.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.512292) + 36.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.502292)[0m + 36.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.512292)[0m + 36.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.532292) + 36.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.532292)[0m + 36.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.552292) + 36.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.562292) + 36.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.552292)[0m + 36.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.562292)[0m + 36.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.572292) + 36.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.582292) + 36.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.572292)[0m + 36.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.582292)[0m + 36.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.642292) + 36.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.642292)[0m + 36.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.662292) + 36.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.662292)[0m + 36.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.702292) + 36.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.702292)[0m + 36.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.022292) + 36.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.022292)[0m + 36.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.042292) + 36.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.042292)[0m + 36.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.062292) + 36.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.062292)[0m + 36.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.222292) ×2 + 36.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.222292)[0m ×2 + 36.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.242292) + 36.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.252292) ×2 + 36.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.242292)[0m + 36.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.252292)[0m ×2 + 36.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.292292) + 36.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.292292)[0m + 37.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.502292) + 37.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.502292)[0m + 37.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.582292) + 37.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.582292)[0m + 37.42sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780433202.73745275 seconds ×2 + 37.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.752292) + 37.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.752292)[0m + 37.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.782292) + 37.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.782292)[0m + 37.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.812292) + 37.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.812292)[0m + 38.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780433203.38120270 seconds. ×2 + 38.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 38.07sINFOros2_control_nodeReceived & accepted new action goal[0m + 39.24sINFOobjective_server_nodeFound path in 6 iterations (0.00551967 s). + 39.30sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 39.32sINFOros2_control_node[2026-06-02 20:46:44.637] [info] Received new action goal + 39.32sINFOros2_control_node[2026-06-02 20:46:44.637] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.9s | 108 errors · 1135 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×150 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×150 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×214 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×160 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×214 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×160 + 0.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.662292) + 0.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.662292)[0m + 0.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.702292) + 0.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.702292)[0m + 0.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.852292) + 0.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.852292)[0m + 0.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.872292) + 0.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.872292)[0m + 0.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.892292) ×2 + 0.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.892292)[0m ×2 + 0.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.952292) + 0.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.952292)[0m + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.972292) + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.982292) + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.972292)[0m + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.982292)[0m + 0.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.002292) + 0.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.002292)[0m + 0.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.022292) + 0.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.022292)[0m + 0.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.042292) + 0.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.042292)[0m + 0.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.132292) ×2 + 0.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.132292)[0m ×2 + 0.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.172292) + 0.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.172292)[0m + 1.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.502292) ×2 + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.502292)[0m ×2 + 1.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.532292) + 1.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.532292)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.552292) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.552292)[0m + 1.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.692292) + 1.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.692292)[0m + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.712292) + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.722292) ×2 + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.712292)[0m + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.732292) + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.722292)[0m ×2 + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.732292)[0m + 1.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.752292) + 1.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.752292)[0m + 1.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.782292) + 1.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.782292)[0m + 1.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.172292) + 1.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.172292)[0m + 1.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.192292) + 1.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.192292)[0m + 1.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.422292) + 1.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.422292)[0m + 1.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.442292) + 1.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.442292)[0m + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.502292) + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.512292) + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.502292)[0m + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.512292)[0m + 2.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.532292) + 2.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.532292)[0m + 2.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.552292) + 2.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.562292) + 2.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.552292)[0m + 2.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.562292)[0m + 2.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.572292) + 2.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.582292) + 2.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.572292)[0m + 2.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.582292)[0m + 2.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.642292) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.642292)[0m + 2.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.662292) + 2.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.662292)[0m + 2.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.702292) + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.702292)[0m + 2.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.022292) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.022292)[0m + 2.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.042292) + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.042292)[0m + 2.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.062292) + 2.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.062292)[0m + 2.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.222292) ×2 + 2.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.222292)[0m ×2 + 2.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.242292) + 2.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.252292) ×2 + 2.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.242292)[0m + 2.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.252292)[0m ×2 + 2.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.292292) + 2.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.292292)[0m + 3.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.502292) + 3.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.502292)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.582292) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.582292)[0m + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780433202.73745275 seconds ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.752292) + 3.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.752292)[0m + 3.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.782292) + 3.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.782292)[0m + 3.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.812292) + 3.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.812292)[0m + 3.89sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780433203.38120270 seconds. ×2 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.07sINFOobjective_server_nodeFound path in 6 iterations (0.00551967 s). + 5.13sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 5.15sINFOros2_control_node[2026-06-02 20:46:44.637] [info] Received new action goal + 5.15sINFOros2_control_node[2026-06-02 20:46:44.637] [info] Accepted new action goal + 14.70sINFOobjective_server_node[0;m[0;93m2026-06-02 20:46:54.191003583 [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 + 14.70sINFOobjective_server_node[0;93m2026-06-02 20:46:54.191043523 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.23sINFOobjective_server_node[0;93m2026-06-02 20:46:54.713516670 [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 + 15.23sINFOobjective_server_node[0;93m2026-06-02 20:46:54.713555881 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.35sINFOobjective_server_node[0;93m2026-06-02 20:46:54.837611199 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 15.35sINFOobjective_server_node[0;93m2026-06-02 20:46:54.840340065 [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 + 15.35sINFOobjective_server_node[0;93m2026-06-02 20:46:54.840375366 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.66sINFOobjective_server_node[0;93m2026-06-02 20:46:55.150411492 [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 + 15.70sINFOobjective_server_node[0;93m2026-06-02 20:46:55.183976361 [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 + 15.70sINFOobjective_server_node[0;93m2026-06-02 20:46:55.184021632 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.65sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 20.49sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 20.84sINFOobjective_server_nodeFound path in 4 iterations (0.002611 s). + 20.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________X____________________X] + 20.94sINFOobjective_server_nodeFound path in 12 iterations (0.00392964 s). + 21.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 21.02sINFOobjective_server_nodeFound path in 1 iterations (0.00221134 s). + 21.08sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] + 21.10sINFOobjective_server_nodeFound path in 0 iterations (7.6e-07 s). + 21.12sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 21.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 21.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 21.18sINFOobjective_server_nodeFound path in 12 iterations (0.00467629 s). + 21.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] + 21.26sINFOobjective_server_nodeFound path in 1 iterations (0.00498962 s). + 21.31sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] + 21.33sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 21.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 21.38sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 21.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 21.47sINFOobjective_server_nodeFound path in 4 iterations (0.00419092 s). + 21.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 21.57sINFOobjective_server_nodeFound path in 4 iterations (0.00264623 s). + 21.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X______________________X] + 21.67sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 21.73sINFOobjective_server_nodePath shortcutter: [X________________________________X_____________________________X] + 21.75sINFOobjective_server_nodeFound path in 1 iterations (0.00261496 s). + 21.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] + 21.84sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 21.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 21.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 21.95sINFOros2_control_node[2026-06-02 20:47:01.437] [info] Received new action goal + 21.95sINFOros2_control_node[2026-06-02 20:47:01.438] [info] Accepted new action goal + 26.94sINFOros2_control_node[2026-06-02 20:47:06.430] [info] Received new action goal + 26.94sINFOros2_control_node[2026-06-02 20:47:06.430] [info] Accepted new action goal + 28.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 28.70sINFOros2_control_node[2026-06-02 20:47:08.187] [info] Received new action goal + 28.70sINFOros2_control_node[2026-06-02 20:47:08.187] [info] Accepted new action goal + 29.91sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 29.95sINFOros2_control_node[2026-06-02 20:47:09.437] [info] Received new action goal + 29.95sINFOros2_control_node[2026-06-02 20:47:09.437] [info] Accepted new action goal + 32.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.72% of iterations over budget over 5:10.011 of wall time (677/94358). Below 1% is expected on a non-realtime system.[0m + 35.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780433234.68272662 seconds ×2 + 35.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780433235.35516477 seconds. ×2 + 36.15sINFOobjective_server_nodeFound path in 0 iterations (9e-07 s). + 36.15sINFOobjective_server_nodePath shortcutter: [X______X] + 36.16sINFOros2_control_node[2026-06-02 20:47:15.649] [info] Received new action goal + 36.16sINFOros2_control_node[2026-06-02 20:47:15.649] [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 | 578 errors · 7783 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1700 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1411 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1700 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1411 + 0.69sINFOjoint_trajectory_controllerGoal reached, success! ×766 + 0.69sINFOros2_control_nodeGoal reached, success![0m ×766 + 0.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.227521) + 0.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.227521)[0m + 0.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.247521) + 0.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.247521)[0m + 0.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.257521) ×2 + 0.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.257521)[0m ×2 + 1.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.667521) ×2 + 1.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.667521)[0m ×2 + 1.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.897521) + 1.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.897521)[0m + 1.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.917521) + 1.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433141.917521)[0m + 1.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.337521) + 1.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.337521)[0m + 1.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.377521) + 1.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.377521)[0m + 2.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.497521) + 2.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.497521)[0m + 2.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.507521) + 2.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.507521)[0m + 2.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.557521) + 2.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.557521)[0m + 2.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.717521) + 2.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.717521)[0m + 2.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.727521) + 2.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.727521)[0m + 2.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.747521) + 2.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433142.747521)[0m + 2.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.217521) + 2.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.217521)[0m + 2.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.367521) + 2.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.367521)[0m + 2.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.407521) ×2 + 2.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.407521)[0m ×2 + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.547521) ×2 + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.547521)[0m ×2 + 3.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.697521) + 3.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433139.067521) that ends in the past (1780433143.697521)[0m + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433143.74287677 seconds ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433144.43069959 seconds. ×2 + 3.99sINFOobjective_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 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 4.09sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 4.10sINFOros2_control_node[2026-06-02 20:45:44.596] [info] Received new action goal + 4.10sINFOros2_control_node[2026-06-02 20:45:44.596] [info] Accepted new action goal + 7.98sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 8.03sINFOobjective_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 + 8.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 11.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.093209) ×2 + 11.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.093209)[0m ×2 + 12.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.613209) + 12.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.613209)[0m + 12.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.683209) + 12.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.683209)[0m + 12.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.733209) + 12.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.733209)[0m + 12.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.853209) + 12.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.853209)[0m + 12.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.883209) + 12.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.883209)[0m + 12.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.913209) + 12.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433152.913209)[0m + 12.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.283209) + 12.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.283209)[0m + 12.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.363209) + 12.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.363209)[0m + 13.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.513209) + 13.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.513209)[0m + 13.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.523209) + 13.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.523209)[0m + 13.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.553209) + 13.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.553209)[0m + 13.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.923209) + 13.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.923209)[0m + 13.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.953209) + 13.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433153.953209)[0m + 13.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.063209) + 13.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.063209)[0m + 13.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.163209) + 13.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.163209)[0m + 13.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.183209) + 13.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.183209)[0m + 13.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.213209) + 13.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.213209)[0m + 13.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.353209) + 13.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.353209)[0m + 14.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.683209) + 14.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.693209) + 14.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.683209)[0m + 14.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.693209)[0m + 14.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.703209) + 14.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.703209)[0m + 14.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.783209) + 14.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.783209)[0m + 14.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.963209) + 14.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.963209)[0m + 14.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.973209) + 14.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.973209)[0m + 14.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.993209) + 14.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.003209) + 14.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433154.993209)[0m + 14.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.003209)[0m + 14.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.333209) + 14.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.333209)[0m + 14.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.403209) + 14.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.403209)[0m + 14.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.463209) + 14.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.463209)[0m + 15.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.573209) + 15.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.573209)[0m + 15.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.603209) + 15.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.603209)[0m + 15.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.633209) + 15.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.643209) + 15.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.633209)[0m + 15.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.643209)[0m + 15.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.753209) + 15.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.753209)[0m + 15.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.763209) + 15.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.763209)[0m + 15.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.813209) + 15.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.823209) + 15.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.813209)[0m + 15.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433155.823209)[0m + 15.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433156.203209) + 15.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433156.203209)[0m + 15.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433156.253209) ×2 + 15.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433156.253209)[0m ×2 + 15.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433156.263209) + 15.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433156.273209) + 15.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433156.263209)[0m + 15.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433156.273209)[0m + 16.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433156.613209) + 16.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433156.613209)[0m + 16.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.143209) + 16.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.143209)[0m + 16.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.303209) + 16.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.303209)[0m + 16.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.333209) + 16.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.333209)[0m + 16.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.373209) + 16.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.373209)[0m + 16.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.473209) + 16.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.473209)[0m + 17.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.493209) + 17.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.493209)[0m + 17.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.533209) + 17.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.543209) + 17.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.533209)[0m + 17.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.543209)[0m + 17.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.823209) + 17.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.823209)[0m + 17.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.863209) + 17.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.863209)[0m + 17.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.883209) + 17.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.883209)[0m + 17.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.943209) + 17.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433157.943209)[0m + 17.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.123209) + 17.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.133209) ×2 + 17.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.123209)[0m + 17.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.133209)[0m ×2 + 17.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.153209) + 17.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.153209)[0m + 17.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.163209) + 17.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.163209)[0m + 17.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.383209) + 17.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.383209)[0m + 17.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.433209) + 17.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.433209)[0m + 17.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.453209) + 17.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.453209)[0m + 17.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.483209) + 17.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.483209)[0m + 18.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.553209) + 18.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.553209)[0m + 18.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.583209) + 18.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.583209)[0m + 18.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.633209) + 18.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.633209)[0m + 18.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.773209) + 18.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.773209)[0m + 18.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.813209) + 18.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.813209)[0m + 18.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.943209) + 18.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.943209)[0m + 18.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.963209) + 18.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.963209)[0m + 18.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.983209) + 18.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433158.983209)[0m + 18.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.203209) + 18.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.203209)[0m + 18.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.233209) + 18.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.233209)[0m + 18.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.263209) + 18.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.263209)[0m + 18.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.293209) + 18.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.293209)[0m + 18.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.393209) + 18.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.393209)[0m + 19.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.553209) + 19.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.553209)[0m + 19.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.593209) + 19.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.593209)[0m + 19.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.603209) + 19.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.613209) + 19.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.603209)[0m + 19.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.613209)[0m + 19.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.633209) + 19.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.633209)[0m + 19.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.923209) + 19.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.923209)[0m + 19.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.953209) + 19.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.953209)[0m + 19.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.993209) + 19.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433159.993209)[0m + 19.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.033209) + 19.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.033209)[0m + 19.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.083209) + 19.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.083209)[0m + 19.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.203209) + 19.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.203209)[0m + 19.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.233209) + 19.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.233209)[0m + 19.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.263209) + 19.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.263209)[0m + 19.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.423209) + 19.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.423209)[0m + 20.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.543209) + 20.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.543209)[0m + 20.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.643209) + 20.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.643209)[0m + 20.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.683209) + 20.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.683209)[0m + 20.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.723209) + 20.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.723209)[0m + 20.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.863209) + 20.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.863209)[0m + 20.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.893209) + 20.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433160.893209)[0m + 20.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.043209) ×2 + 20.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.043209)[0m ×2 + 20.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.063209) + 20.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.073209) + 20.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.063209)[0m + 20.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.073209)[0m + 20.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.093209) + 20.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.093209)[0m + 20.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.303209) + 20.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.303209)[0m + 20.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.343209) + 20.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.343209)[0m + 20.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.423209) + 20.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.423209)[0m + 20.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.443209) + 20.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.453209) + 20.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.443209)[0m + 20.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.453209)[0m + 21.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.593209) + 21.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.593209)[0m + 21.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.643209) + 21.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.643209)[0m + 21.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.673209) + 21.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.673209)[0m + 21.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.723209) + 21.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.723209)[0m + 21.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.753209) + 21.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.753209)[0m + 21.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.783209) + 21.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.783209)[0m + 21.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.913209) + 21.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433161.913209)[0m + 21.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.153209) + 21.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.153209)[0m + 21.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.193209) + 21.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.193209)[0m + 21.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.223209) ×2 + 21.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.223209)[0m ×2 + 21.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.343209) + 21.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.343209)[0m + 21.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.373209) + 21.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.373209)[0m + 21.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.383209) + 21.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.383209)[0m + 21.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.413209) + 21.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.413209)[0m + 22.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.553209) + 22.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.553209)[0m + 22.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.563209) + 22.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.563209)[0m + 22.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.583209) + 22.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.593209) + 22.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.583209)[0m + 22.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.593209)[0m + 22.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.653209) + 22.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.653209)[0m + 22.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.793209) + 22.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.793209)[0m + 22.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.823209) + 22.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.823209)[0m + 22.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.853209) + 22.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.853209)[0m + 22.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.863209) + 22.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.863209)[0m + 22.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.933209) + 22.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.933209)[0m + 22.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.953209) + 22.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433162.953209)[0m + 22.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.023209) + 22.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.023209)[0m + 22.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.033209) + 22.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.033209)[0m + 22.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.093209) + 22.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.093209)[0m + 22.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.163209) + 22.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.163209)[0m + 22.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.213209) + 22.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.213209)[0m + 22.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.233209) + 22.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.233209)[0m + 22.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.263209) + 22.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.263209)[0m + 22.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.293209) ×2 + 22.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.293209)[0m ×2 + 22.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.383209) + 22.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.393209) + 22.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.383209)[0m + 22.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.393209)[0m + 22.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.443209) + 22.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.443209)[0m + 23.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.563209) + 23.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.563209)[0m + 23.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.673209) + 23.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.673209)[0m + 23.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.713209) + 23.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.713209)[0m + 23.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.743209) + 23.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.743209)[0m + 23.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.773209) + 23.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.773209)[0m + 23.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.913209) + 23.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.913209)[0m + 23.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.943209) + 23.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433163.943209)[0m + 23.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.063209) + 23.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.063209)[0m + 23.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.083209) ×2 + 23.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.083209)[0m ×2 + 23.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.093209) + 23.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.103209) + 23.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.093209)[0m + 23.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.103209)[0m + 23.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.123209) + 23.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.123209)[0m + 23.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.303209) + 23.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.303209)[0m + 23.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.313209) + 23.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.313209)[0m + 23.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.333209) + 23.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.333209)[0m + 23.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.363209) + 23.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.363209)[0m + 23.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.463209) + 23.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.463209)[0m + 24.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.513209) + 24.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.513209)[0m + 24.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.523209) + 24.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.533209) + 24.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.523209)[0m + 24.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.533209)[0m + 24.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.593209) + 24.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.593209)[0m + 24.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.643209) + 24.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.643209)[0m + 24.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.733209) + 24.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.733209)[0m + 24.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.753209) + 24.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.753209)[0m + 24.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.773209) ×2 + 24.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.773209)[0m ×2 + 24.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.803209) + 24.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.803209)[0m + 24.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.873209) + 24.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.883209) + 24.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.893209) + 24.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.873209)[0m + 24.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.883209)[0m + 24.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.893209)[0m + 24.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.953209) + 24.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433164.953209)[0m + 24.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.053209) + 24.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.053209)[0m + 24.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.063209) + 24.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.063209)[0m + 24.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.083209) + 24.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.083209)[0m + 24.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.183209) + 24.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.183209)[0m + 24.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.193209) + 24.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.193209)[0m + 24.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.243209) + 24.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.243209)[0m + 24.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.263209) + 24.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.273209) + 24.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.263209)[0m + 24.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.273209)[0m + 24.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.383209) ×2 + 24.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.383209)[0m ×2 + 24.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.433209) + 24.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.433209)[0m + 25.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.593209) ×2 + 25.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.593209)[0m ×2 + 25.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.603209) + 25.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.603209)[0m + 25.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.623209) + 25.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.623209)[0m + 25.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.673209) + 25.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.673209)[0m + 25.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.803209) + 25.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.803209)[0m + 25.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.833209) + 25.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.833209)[0m + 25.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.853209) + 25.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.853209)[0m + 25.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.943209) + 25.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.953209) + 25.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.943209)[0m + 25.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.953209)[0m + 25.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.013209) + 25.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.023209) + 25.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.013209)[0m + 25.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.023209)[0m + 25.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.043209) + 25.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.043209)[0m + 25.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.093209) + 25.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.093209)[0m + 25.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.143209) + 25.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.143209)[0m + 25.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.213209) + 25.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.213209)[0m + 25.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.233209) + 25.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.243209) + 25.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.233209)[0m + 25.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.243209)[0m + 25.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.273209) + 25.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.273209)[0m + 25.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.293209) + 25.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.293209)[0m + 25.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.353209) + 25.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.353209)[0m + 25.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.373209) + 25.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.373209)[0m + 25.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.393209) + 25.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.393209)[0m + 25.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.413209) + 25.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.413209)[0m + 25.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.433209) + 25.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.433209)[0m + 26.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.683209) + 26.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.683209)[0m + 26.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.693209) + 26.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.693209)[0m + 26.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.723209) + 26.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.723209)[0m + 26.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.743209) ×2 + 26.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.743209)[0m ×2 + 26.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.843209) + 26.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.843209)[0m + 26.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.863209) + 26.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.863209)[0m + 26.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.903209) + 26.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.913209) + 26.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.903209)[0m + 26.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.913209)[0m + 26.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.063209) + 26.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.063209)[0m + 26.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.073209) + 26.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.083209) + 26.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.073209)[0m + 26.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.083209)[0m + 26.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.103209) + 26.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.103209)[0m + 26.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.113209) + 26.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.113209)[0m + 26.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.313209) ×2 + 26.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.313209)[0m ×2 + 26.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.343209) + 26.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.343209)[0m + 26.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.393209) + 26.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.393209)[0m + 26.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.443209) + 26.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.443209)[0m + 26.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.463209) + 26.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.463209)[0m + 27.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.503209) + 27.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.503209)[0m + 27.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.513209) + 27.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.513209)[0m + 27.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.533209) + 27.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.533209)[0m + 27.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.613209) + 27.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.623209) + 27.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.613209)[0m + 27.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.623209)[0m + 27.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.653209) + 27.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.653209)[0m + 27.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.683209) + 27.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.683209)[0m + 27.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.723209) + 27.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.723209)[0m + 27.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.753209) ×2 + 27.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.753209)[0m ×2 + 27.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.773209) + 27.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.773209)[0m + 27.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.843209) + 27.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.843209)[0m + 27.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.863209) + 27.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.863209)[0m + 27.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.903209) + 27.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.913209) + 27.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.903209)[0m + 27.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.913209)[0m + 27.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.053209) ×2 + 27.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.053209)[0m ×2 + 27.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.183209) + 27.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.183209)[0m + 27.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.203209) + 27.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.203209)[0m + 27.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.233209) + 27.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.233209)[0m + 27.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.253209) + 27.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.253209)[0m + 27.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.333209) + 27.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.333209)[0m + 27.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.353209) + 27.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.353209)[0m + 27.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.393209) + 27.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.393209)[0m + 27.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.403209) + 27.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.403209)[0m + 27.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.423209) + 27.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.423209)[0m + 28.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.543209) + 28.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.543209)[0m + 28.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433168.55449533 seconds ×2 + 28.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.563209) + 28.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.563209)[0m + 28.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.573209) + 28.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.583209) + 28.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.573209)[0m + 28.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.593209) + 28.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.583209)[0m + 28.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.593209)[0m + 28.67sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780433169.17239070 seconds. ×2 + 28.85sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 28.87sINFOros2_control_node[2026-06-02 20:46:09.368] [info] Received new action goal + 28.87sINFOros2_control_node[2026-06-02 20:46:09.368] [info] Accepted new action goal | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 26 errors · 2 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433290.33830261 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433290.98016691 seconds. ×2 + 2.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.66% of iterations over budget over 6:10.013 of wall time (744/112712). Below 1% is expected on a non-realtime system.[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433292.44404817 seconds ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433293.00924802 seconds. ×2 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433293.01272368 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433293.57256269 seconds. ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433293.57301903 seconds ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780433294.13435102 seconds. ×2 + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780433296.02469182 seconds ×2 + 5.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 11.88sERRORweb_video_server-21process[web_video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.88sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.88sERRORrosbridge_websocket-19process[rosbridge_websocket-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.88sERRORrosapi_node-18process[rosapi_node-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.88sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.89sINFOweb_video_server-21sending signal 'SIGTERM' to process[web_video_server-21] + 11.89sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.89sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.89sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.90sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] + 11.90sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.91sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.91sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.91sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.91sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.91sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.91sINFOrosbridge_websocket-19sending signal 'SIGTERM' to process[rosbridge_websocket-19] + 11.92sINFOrosapi_node-18sending signal 'SIGTERM' to process[rosapi_node-18] + 11.94sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 11.95sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 11.95sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 11.96sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 11.96sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 11.97sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.97sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 11.98sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 11.99sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 12.00sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 12.02sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 12.03sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 12.03sINFOrosbridge_websocketExiting due to SIGINT + 12.03sINFOcontroller_managerShutdown request received.... + 12.03sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.03sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.03sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.03sERRORrosapi_nodeTraceback (most recent call last): + 12.03sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.03sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 560, in <module> + 12.03sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.03sINFOrosapi_nodemain() + 12.03sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 12.03sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 552, in main + 12.03sINFOrosapi_noderclpy.spin(node) + 12.03sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin + 12.03sINFOrosapi_nodeexecutor.spin_once() + 12.03sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once + 12.03sINFOrosapi_nodeself._spin_once_impl(timeout_sec) + 12.03sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 12.03sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.03sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl + 12.03sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.03sINFOrosapi_nodehandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) + 12.03sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.03sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 12.03sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks + 12.03sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 12.03sINFOrosapi_nodereturn next(self._cb_iter) + 12.03sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks + 12.03sINFOcontroller_managerShutting down the controller manager. + 12.03sINFOrosapi_noderaise ExternalShutdownException() + 12.03sINFOrosapi_noderclpy.executors.ExternalShutdownException + 12.03sERRORui_teleop_bridgeTraceback (most recent call last): + 12.03sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 12.03sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 12.03sINFOui_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 + 12.03sINFOui_teleop_bridgerclpy.shutdown() + 12.03sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 12.03sINFOui_teleop_bridge_shutdown(context=context) + 12.03sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 12.03sINFOui_teleop_bridgereturn context.shutdown() + 12.03sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 12.03sINFOui_teleop_bridgeself.__context.shutdown() + 12.03sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 12.03sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 12.03sINFOros2_control_nodeShutdown request received....[0m + 12.04sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 12.04sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 12.04sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 12.04sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 12.04sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 12.04sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 12.04sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 12.04sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 12.04sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 12.04sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 12.04sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 12.04sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 12.04sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 12.04sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 12.04sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 12.04sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 12.04sINFOros2_control_nodeShutting down the controller manager.[0m + 12.05sINFOobjective_server_node[0;m[2026-06-02 20:48:22.386] [moveit_pro_license] [info] + 12.05sINFOobjective_server_node************************************************* ×2 + 12.05sINFOobjective_server_node* MoveIt Pro License + 12.05sINFOobjective_server_node* Application has successfully terminated + 12.11sINFOweb_video_server-21process has finished cleanly [pid 9371] + 12.12sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9367] + 12.12sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system + 12.13sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 12.14sERRORobjective_server_nodeStack trace (most recent call last): + 12.16sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 12.16sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55561afce4e4, in _start + 12.16sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f75fc70ce3f, in __libc_start_main + 12.16sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f75fc70cd96, in + 12.16sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f75fc72860f, in exit + 12.16sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f75fc728494, in + 12.16sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f75fcbb1251, in spdlog::details::registry::~registry() + 12.16sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f75fcbbbe66, 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() + 12.16sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55561afd3cba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 12.16sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55561afd0bf3, in spdlog_ros::RosSink::~RosSink() + 12.16sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55561afd5e01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 12.16sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f75fd095b2e, in rclcpp::Node::~Node() + 12.16sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f75fd070d39, in + 12.16sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f75fd09f0b9, in + 12.16sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f75fd09f000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 12.16sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f75fd070d39, in + 12.16sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f75fd075b31, in rclcpp::CallbackGroup::~CallbackGroup() + 12.16sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f75affe93f0]) + 12.18sERRORui_teleop_bridge-17process has died [pid 9319, 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_vruc6jc3']. + 12.20sINFOrosbridge_websocket-19process has finished cleanly [pid 9348] + 12.20sINFOlaunchprocess[rosbridge_websocket-19] was required: shutting down launched system + 12.22sINFOexecute_objective_bridge-16process has finished cleanly [pid 9317] + 12.91sERRORobjective_server_node_main-14process has died [pid 9313, 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_e250vgb6 --params-file /tmp/launch_params_bzh2jggd --params-file /tmp/launch_params_s4xtbrea --params-file /tmp/launch_params_j4d03vo3 --params-file /tmp/launch_params_v66l7mla --params-file /tmp/launch_params_rb_ful_2']. + 12.91sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 13.01sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9311] + 13.02sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9309] + 13.06sINFOparameter_manager_node-10process has finished cleanly [pid 9268] + 13.07sERRORrosapi_node-18process has died [pid 9321, exit code 1, cmd '/opt/ros/humble/lib/rosapi/rosapi_node --ros-args -r __node:=rosapi --params-file /tmp/launch_params_0xft0dhq']. + 13.08sINFOwaypoint_manager_node-11process has finished cleanly [pid 9307] + 13.11sINFOcomponent_container_mt-15process has finished cleanly [pid 9315] + 13.20sINFOmove_group-9process has finished cleanly [pid 9266] + 14.04sINFOros2_control_node-1process has finished cleanly [pid 9246] | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 2 errors · 56 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.05sINFOros2_control_node[2026-06-02 20:43:34.801] [info] Received new action goal + 0.05sINFOros2_control_node[2026-06-02 20:43:34.801] [info] Accepted new action goal + 2.81sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 2.81sINFOobjective_server_nodePath shortcutter: [X_X] + 2.81sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 2.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.82sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 2.90sINFOobjective_server_nodeFound path in 1 iterations (0.00263519 s). + 3.02sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 3.05sINFOros2_control_node[2026-06-02 20:43:37.807] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-02 20:43:37.807] [info] Accepted new action goal + 3.10sINFOros2_control_node[2026-06-02 20:43:37.851] [info] Got request to cancel active goal. + 3.10sINFOros2_control_node[2026-06-02 20:43:37.851] [info] Canceling active goal... + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780433017.85855007 seconds ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 3.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780433018.46111274 seconds. ×2 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.88sINFOros2_control_node[2026-06-02 20:43:38.636] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-02 20:43:38.636] [info] Accepted new action goal + 6.33sINFOros2_control_node[2026-06-02 20:43:41.084] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 20:43:41.084] [info] Accepted new action goal + 14.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780433029.65650702 seconds ×2 + 15.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433030.31409955 seconds. ×2 + 15.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 15.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 15.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433030.38427019 seconds ×2 + 16.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433030.93852258 seconds. ×2 + 16.31sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 16.31sINFOobjective_server_nodePath shortcutter: [X______X] + 16.32sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Received new action goal + 16.32sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Accepted new action goal + 18.32sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433033.07866096 seconds ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 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 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.96sINFOros2_control_node[2026-06-02 20:44:46.392] [info] Received new action goal + 0.96sINFOros2_control_node[2026-06-02 20:44:46.392] [info] Accepted new action goal + 2.12sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780433087.55303574 seconds ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780433088.30706215 seconds. ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.17sINFOros2_control_node[2026-06-02 20:44:49.598] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 20:44:49.598] [info] Accepted new action goal + 7.87sINFOobjective_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 + 10.25sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). + 10.26sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.27sINFOros2_control_node[2026-06-02 20:44:55.702] [info] Received new action goal + 10.27sINFOros2_control_node[2026-06-02 20:44:55.702] [info] Accepted new action goal + 13.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780433099.30721068 seconds ×2 + 14.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433099.87170792 seconds. ×2 + 14.62sINFOobjective_server_nodePath shortcutter: [X___X] + 14.64sINFOros2_control_node[2026-06-02 20:45:00.072] [info] Received new action goal + 14.64sINFOros2_control_node[2026-06-02 20:45:00.072] [info] Accepted new action goal + 15.92sINFOobjective_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 + 15.94sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 2 errors · 80 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 0.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 1.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 1.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 2.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 2.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 2.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.74sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 2.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.76sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 4.18sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 4.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 5.27sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.28sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 5.28sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal + 9.03sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 9.05sINFOros2_control_node[2026-06-02 20:42:17.202] [info] Received new action goal + 9.05sINFOros2_control_node[2026-06-02 20:42:17.202] [info] Accepted new action goal + 12.36sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 12.36sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.38sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Received new action goal + 12.38sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Accepted new action goal + 13.20sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Got request to cancel active goal. + 13.20sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Canceling active goal... + 13.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432941.37376332 seconds ×2 + 13.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432941.93511438 seconds. ×2 + 13.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432942.07523704 seconds ×2 + 14.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432942.74558973 seconds. ×2 + 15.74sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 15.74sINFOobjective_server_nodePath shortcutter: [X______X] + 15.75sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Received new action goal + 15.75sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.2s | 2 errors · 51 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.72% of iterations over budget over 5:10.011 of wall time (677/94358). Below 1% is expected on a non-realtime system.[0m + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780433234.68272662 seconds ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780433235.35516477 seconds. ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (9e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-02 20:47:15.649] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-02 20:47:15.649] [info] Accepted new action goal + 9.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.85sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 9.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). + 10.12sINFOobjective_server_nodePath shortcutter: [X___________X] + 10.12sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 10.13sINFOobjective_server_nodePath shortcutter: [X_________________X] + 10.14sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 10.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 10.19sINFOobjective_server_nodeFound path in 1 iterations (0.00294336 s). + 10.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 10.30sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 10.31sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 10.31sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 12.84sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 12.84sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 13.49sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 13.49sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 13.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 14.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 14.26sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 14.26sINFOobjective_server_nodePath shortcutter: [X________X] + 14.28sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 14.28sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 16.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 4 errors · 62 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780433006.75056076 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 `Grasp Pose Using Yaml` starting at time: 1780433007.32023335 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] + 0.78sINFOros2_control_node[2026-06-02 20:43:27.534] [info] Received new action goal + 0.79sINFOros2_control_node[2026-06-02 20:43:27.534] [info] Accepted new action goal + 7.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 7.57sINFOobjective_server_nodePath shortcutter: [X__________X] + 7.57sINFOobjective_server_nodeFound path in 0 iterations (1.4e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X________________X] + 7.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 7.62sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 7.65sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 7.71sINFOobjective_server_nodeFound path in 1 iterations (0.00305378 s). + 7.80sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 7.83sINFOobjective_server_nodeFound path in 1 iterations (0.00490664 s). + 7.91sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 8.01sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 8.05sINFOros2_control_node[2026-06-02 20:43:34.801] [info] Received new action goal + 8.05sINFOros2_control_node[2026-06-02 20:43:34.801] [info] Accepted new action goal + 10.81sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 10.81sINFOobjective_server_nodePath shortcutter: [X_X] + 10.82sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 10.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 10.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 10.90sINFOobjective_server_nodeFound path in 1 iterations (0.00263519 s). + 11.02sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 11.06sINFOros2_control_node[2026-06-02 20:43:37.807] [info] Received new action goal + 11.06sINFOros2_control_node[2026-06-02 20:43:37.807] [info] Accepted new action goal + 11.10sINFOros2_control_node[2026-06-02 20:43:37.851] [info] Got request to cancel active goal. + 11.10sINFOros2_control_node[2026-06-02 20:43:37.851] [info] Canceling active goal... + 11.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780433017.85855007 seconds ×2 + 11.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780433018.46111274 seconds. ×2 + 11.87sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 11.89sINFOros2_control_node[2026-06-02 20:43:38.636] [info] Received new action goal + 11.89sINFOros2_control_node[2026-06-02 20:43:38.636] [info] Accepted new action goal + 14.33sINFOros2_control_node[2026-06-02 20:43:41.084] [info] Received new action goal + 14.33sINFOros2_control_node[2026-06-02 20:43:41.084] [info] Accepted new action goal | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.1s | 2 errors · 43 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780433267.27703047 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780433267.84022403 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] + 0.69sINFOros2_control_node[2026-06-02 20:47:47.965] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-02 20:47:47.965] [info] Accepted new action goal + 2.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 11.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433278.34261131 seconds ×2 + 11.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433278.97945738 seconds. ×2 + 11.77sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.78sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433279.06960893 seconds ×2 + 12.34sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433279.62097549 seconds. ×2 + 12.37sINFOobjective_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 + 12.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433279.64291215 seconds ×2 + 12.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433280.20300603 seconds. ×2 + 13.03sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 13.03sINFOobjective_server_nodePath shortcutter: [X___X] + 13.04sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Received new action goal + 13.04sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 4 errors · 32 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Accepted new action goal + 12.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780433006.75056076 seconds ×2 + 13.55sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780433007.32023335 seconds. ×2 + 13.76sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 13.77sINFOros2_control_node[2026-06-02 20:43:27.534] [info] Received new action goal + 13.77sINFOros2_control_node[2026-06-02 20:43:27.534] [info] Accepted new action goal | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 4 errors · 33 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 5.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 14.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780433256.83097720 seconds ×2 + 14.75sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780433257.38837337 seconds. ×2 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). + 15.02sINFOobjective_server_nodePath shortcutter: [X________________X] + 15.03sINFOros2_control_node[2026-06-02 20:47:37.666] [info] Received new action goal + 15.03sINFOros2_control_node[2026-06-02 20:47:37.666] [info] Accepted new action goal | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 2 errors · 57 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Accepted new action goal + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780432984.36421299 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432984.95654774 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432985.04668903 seconds ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432985.69731331 seconds. ×2 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Accepted new action goal + 6.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.56sINFOros2_control_node[2026-06-02 20:43:09.171] [info] Received new action goal + 6.56sINFOros2_control_node[2026-06-02 20:43:09.171] [info] Accepted new action goal + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 8.90sINFOros2_control_node[2026-06-02 20:43:11.508] [info] Received new action goal + 8.90sINFOros2_control_node[2026-06-02 20:43:11.508] [info] Accepted new action goal + 9.73sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.49% of iterations over budget over 1:10.001 of wall time (105/21506). Below 1% is expected on a non-realtime system.[0m + 11.25sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 11.26sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 11.26sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 13.14sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 13.14sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 13.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 13.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 14.89sINFOobjective_server_nodePath shortcutter: [X______X] + 14.90sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 14.90sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Accepted new action goal | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 4 errors · 2 warnings · 61 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433278.34261131 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433278.97945738 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433279.06960893 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433279.62097549 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433279.64291215 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433280.20300603 seconds. ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Accepted new action goal + 5.30sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.31sINFOros2_control_node[2026-06-02 20:48:03.647] [info] Received new action goal + 5.31sINFOros2_control_node[2026-06-02 20:48:03.647] [info] Accepted new action goal + 5.31sINFOros2_control_node[2026-06-02 20:48:03.647] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 11.99sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Got request to cancel active goal. + 11.99sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Canceling active goal... + 12.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433290.33830261 seconds ×2 + 12.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433290.98016691 seconds. ×2 + 14.01sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.66% of iterations over budget over 6:10.013 of wall time (744/112712). Below 1% is expected on a non-realtime system.[0m + 14.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433292.44404817 seconds ×2 + 14.67sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433293.00924802 seconds. ×2 + 14.67sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.67sINFOobjective_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 + 14.67sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.67sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433293.01272368 seconds ×2 + 15.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433293.57256269 seconds. ×2 + 15.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433293.57301903 seconds ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 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: 1780433256.83097720 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780433257.38837337 seconds. ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.82sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). + 0.82sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.84sINFOros2_control_node[2026-06-02 20:47:37.666] [info] Received new action goal + 0.84sINFOros2_control_node[2026-06-02 20:47:37.666] [info] Accepted new action goal + 4.85sINFOros2_control_node[2026-06-02 20:47:41.682] [info] Received new action goal + 4.85sINFOros2_control_node[2026-06-02 20:47:41.682] [info] Accepted new action goal + 10.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780433267.27703047 seconds ×2 + 11.01sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780433267.84022403 seconds. ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). + 11.12sINFOobjective_server_nodePath shortcutter: [X________X] + 11.14sINFOros2_control_node[2026-06-02 20:47:47.965] [info] Received new action goal + 11.14sINFOros2_control_node[2026-06-02 20:47:47.965] [info] Accepted new action goal + 13.04sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 8.4s | 59 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433030.31409955 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433030.38427019 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433030.93852258 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.76sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433033.07866096 seconds ×2 + 3.33sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780433033.64070058 seconds. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 3.45sINFOros2_control_node[2026-06-02 20:43:53.764] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-02 20:43:53.764] [info] Accepted new action goal + 8.75sINFOobjective_server_node[0;93m2026-06-02 20:43:59.064079233 [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 + 8.75sINFOobjective_server_node[0;93m2026-06-02 20:43:59.064108343 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.29sINFOobjective_server_node[0;93m2026-06-02 20:43:59.601157235 [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 + 9.29sINFOobjective_server_node[0;93m2026-06-02 20:43:59.601200096 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.42sINFOobjective_server_node[0;93m2026-06-02 20:43:59.731042943 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.42sINFOobjective_server_node[0;93m2026-06-02 20:43:59.733486814 [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 + 9.42sINFOobjective_server_node[0;93m2026-06-02 20:43:59.733508264 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.80sINFOobjective_server_node[0;93m2026-06-02 20:44:00.110578626 [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 + 9.81sINFOobjective_server_node[0;93m2026-06-02 20:44:00.124683432 [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 + 9.81sINFOobjective_server_node[0;93m2026-06-02 20:44:00.124725542 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.15sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780433041.46056628 seconds ×2 + 11.75sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433042.06154180 seconds. ×2 + 12.44sINFOobjective_server_node[0;93m2026-06-02 20:44:02.749907050 [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 + 12.44sINFOobjective_server_node[0;93m2026-06-02 20:44:02.750004762 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.94sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258121031 [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 + 12.94sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258160862 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.06sINFOobjective_server_node[0;93m2026-06-02 20:44:03.373054919 [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 + 13.06sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375312177 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.06sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375336488 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.40sINFOobjective_server_node[0;93m2026-06-02 20:44:03.715533413 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 13.42sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733109377 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.42sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733151528 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433044.59461379 seconds ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.1s | 46 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-02 20:43:59.064079233 [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 20:43:59.064108343 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.54sINFOobjective_server_node[0;93m2026-06-02 20:43:59.601157235 [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 + 0.54sINFOobjective_server_node[0;93m2026-06-02 20:43:59.601200096 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.67sINFOobjective_server_node[0;93m2026-06-02 20:43:59.731042943 [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 + 0.67sINFOobjective_server_node[0;93m2026-06-02 20:43:59.733486814 [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 + 0.67sINFOobjective_server_node[0;93m2026-06-02 20:43:59.733508264 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.05sINFOobjective_server_node[0;93m2026-06-02 20:44:00.110578626 [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 + 1.06sINFOobjective_server_node[0;93m2026-06-02 20:44:00.124683432 [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 + 1.06sINFOobjective_server_node[0;93m2026-06-02 20:44:00.124725542 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.40sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780433041.46056628 seconds ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433042.06154180 seconds. ×2 + 3.69sINFOobjective_server_node[0;93m2026-06-02 20:44:02.749907050 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 3.69sINFOobjective_server_node[0;93m2026-06-02 20:44:02.750004762 [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 20:44:03.258121031 [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 20:44:03.258160862 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.31sINFOobjective_server_node[0;93m2026-06-02 20:44:03.373054919 [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 + 4.31sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375312177 [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 + 4.31sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375336488 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.65sINFOobjective_server_node[0;93m2026-06-02 20:44:03.715533413 [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 + 4.67sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733109377 [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 + 4.67sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733151528 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.53sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433044.59461379 seconds ×2 + 6.35sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433045.41772652 seconds. ×2 + 6.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.36sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.43sINFOobjective_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 + 6.44sINFOobjective_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 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.54sINFOobjective_server_nodePath shortcutter: [X____________X] + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.57sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Received new action goal + 6.57sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Accepted new action goal | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780433029.65650702 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433030.31409955 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433030.38427019 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433030.93852258 seconds. ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.42sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Received new action goal + 1.42sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Accepted new action goal + 3.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433033.07866096 seconds ×2 + 3.98sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780433033.64070058 seconds. ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 4.11sINFOros2_control_node[2026-06-02 20:43:53.764] [info] Received new action goal + 4.11sINFOros2_control_node[2026-06-02 20:43:53.764] [info] Accepted new action goal | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.1s | 2 errors · 2 warnings · 31 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433290.33830261 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433290.98016691 seconds. ×2 + 2.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.66% of iterations over budget over 6:10.013 of wall time (744/112712). Below 1% is expected on a non-realtime system.[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433292.44404817 seconds ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433293.00924802 seconds. ×2 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433293.01272368 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433293.57256269 seconds. ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433293.57301903 seconds ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780433294.13435102 seconds. ×2 + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780433296.02469182 seconds ×2 + 5.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 12 warnings · 173 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.17sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.17sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.17sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.17sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.17sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.17sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.18sINFOcontroller_managerupdate rate is 600 Hz + 0.18sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.18sWARNcontroller_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. + 0.18sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.18sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.19sWARNros2_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 + 0.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.20sINFOobjective_server_node[2026-06-02 20:42:02.338] [moveit_pro_license] [info] + 0.20sINFOobjective_server_node************************************************* ×2 + 0.20sINFOobjective_server_node* MoveIt Pro License + 0.20sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.25sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.25sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.25sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.25sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.39sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.39sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.57sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.58sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.58sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOobjective_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. + 0.59sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.60sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.60sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.60sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.60sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.60sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.60sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.60sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.60sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.60sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.60sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.60sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.60sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.60sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.60sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.60sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.60sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.60sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.61sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.61sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.68sINFOros2_control_node[2026-06-02 20:42:02.821] [info] Controller state will be published at 20 Hz. + 0.68sINFOros2_control_node[2026-06-02 20:42:02.823] [info] JointVelocityController 'on_configure' succeeded. + 0.68sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.68sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.68sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.68sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.68sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.68sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.69sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.69sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.69sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.69sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.69sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.69sINFOros2_control_node[2026-06-02 20:42:02.828] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.69sINFOros2_control_node[2026-06-02 20:42:02.828] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.72sINFOros2_control_node[2026-06-02 20:42:02.861] [info] First order lag filter time constant set to: 0.2 seconds + 0.72sINFOros2_control_node[2026-06-02 20:42:02.861] [info] Controller state will be published at 50 Hz. + 0.73sINFOros2_control_node[2026-06-02 20:42:02.868] [info] Registered `FollowJointTrajectory` action server. + 0.73sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.73sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.77sINFOros2_control_node[2026-06-02 20:42:02.910] [info] Controller state will be published at 10 Hz. + 0.77sINFOros2_control_node[2026-06-02 20:42:02.912] [info] VelocityForceController 'on_configure' succeeded. + 0.77sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.78sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.78sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.78sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.78sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.79sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.80sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.87sINFOobjective_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. + 0.87sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9263] + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9257] + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9252] + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9248] + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9254] + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9260] + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9250] + 1.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.25sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.32sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.32sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.32sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.32sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.32sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.46sINFOmove_group ×2 + 1.46sINFOmove_group[92mYou can start planning now![0m + 1.72sWARNobjective_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/. + 2.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432924.83884931 seconds. ×2 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432924.84906006 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432925.40012288 seconds. ×2 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432926.51025438 seconds ×2 + 4.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 6.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 6.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 6.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 7.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 7.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 7.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 8.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 8.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 8.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 8.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 8.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 1 warning · 58 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432924.83884931 seconds. ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432924.84906006 seconds ×2 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432925.40012288 seconds. ×2 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432926.51025438 seconds ×2 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 4.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 6.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 6.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 6.93sINFOobjective_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 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 7.04sINFOobjective_server_nodePath shortcutter: [X_______X] + 7.05sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 7.05sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780433029.65650702 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433030.31409955 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433030.38427019 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433030.93852258 seconds. ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.42sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Received new action goal + 1.42sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Accepted new action goal + 3.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433033.07866096 seconds ×2 + 3.98sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780433033.64070058 seconds. ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 4.11sINFOros2_control_node[2026-06-02 20:43:53.764] [info] Received new action goal + 4.11sINFOros2_control_node[2026-06-02 20:43:53.764] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Accepted new action goal + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Got request to cancel active goal. + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Canceling active goal... + 0.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432941.37376332 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432941.93511438 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432942.07523704 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432942.74558973 seconds. ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 24 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Accepted new action goal + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780432984.36421299 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432984.95654774 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432985.04668903 seconds ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432985.69731331 seconds. ×2 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Accepted new action goal | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.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: 1780433278.34261131 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433278.97945738 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433279.06960893 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433279.62097549 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433279.64291215 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433280.20300603 seconds. ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Accepted new action goal | ||||
| ✓ 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: 1780433278.34261131 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433278.97945738 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433279.06960893 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433279.62097549 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433279.64291215 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433280.20300603 seconds. ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Accepted new action goal | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 2 errors · 2 warnings · 31 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433290.33830261 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433290.98016691 seconds. ×2 + 2.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.66% of iterations over budget over 6:10.013 of wall time (744/112712). Below 1% is expected on a non-realtime system.[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433292.44404817 seconds ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433293.00924802 seconds. ×2 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433293.01272368 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433293.57256269 seconds. ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433293.57301903 seconds ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780433294.13435102 seconds. ×2 + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780433296.02469182 seconds ×2 + 5.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 2 errors · 2 warnings · 31 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433290.33830261 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433290.98016691 seconds. ×2 + 2.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.66% of iterations over budget over 6:10.013 of wall time (744/112712). Below 1% is expected on a non-realtime system.[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433292.44404817 seconds ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433293.00924802 seconds. ×2 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433293.01272368 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433293.57256269 seconds. ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433293.57301903 seconds ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780433294.13435102 seconds. ×2 + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780433296.02469182 seconds ×2 + 5.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.1s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Accepted new action goal + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Got request to cancel active goal. + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Canceling active goal... + 0.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432941.37376332 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432941.93511438 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432942.07523704 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432942.74558973 seconds. ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Accepted new action goal | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 5.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 5.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Accepted new action goal + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Got request to cancel active goal. + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Canceling active goal... + 0.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432941.37376332 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432941.93511438 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432942.07523704 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432942.74558973 seconds. ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Accepted new action goal + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Got request to cancel active goal. + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Canceling active goal... + 0.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432941.37376332 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432941.93511438 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432942.07523704 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432942.74558973 seconds. ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Accepted new action goal + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Got request to cancel active goal. + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Canceling active goal... + 0.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432941.37376332 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432941.93511438 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432942.07523704 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432942.74558973 seconds. ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Accepted new action goal + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Got request to cancel active goal. + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Canceling active goal... + 0.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432941.37376332 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432941.93511438 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432942.07523704 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432942.74558973 seconds. ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:42:20.532] [info] Accepted new action goal + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Got request to cancel active goal. + 0.92sINFOros2_control_node[2026-06-02 20:42:21.348] [info] Canceling active goal... + 0.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432941.37376332 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432941.93511438 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432942.07523704 seconds ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432942.74558973 seconds. ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-02 20:42:23.900] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 24 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Accepted new action goal + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780432984.36421299 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432984.95654774 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432985.04668903 seconds ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432985.69731331 seconds. ×2 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Accepted new action goal | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 24 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Accepted new action goal + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780432984.36421299 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432984.95654774 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432985.04668903 seconds ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432985.69731331 seconds. ×2 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Accepted new action goal | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 24 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Accepted new action goal + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780432984.36421299 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432984.95654774 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432985.04668903 seconds ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432985.69731331 seconds. ×2 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Accepted new action goal | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 24 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 20:43:02.977] [info] Accepted new action goal + 1.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780432984.36421299 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432984.95654774 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432985.04668903 seconds ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432985.69731331 seconds. ×2 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Received new action goal + 3.21sINFOros2_control_node[2026-06-02 20:43:05.821] [info] Accepted new action goal | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Accepted new action goal | ||||
| − 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-02 20:43:13.870] [info] Accepted new action goal + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Got request to cancel active goal. + 1.98sINFOros2_control_node[2026-06-02 20:43:15.747] [info] Canceling active goal... + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432995.76106715 seconds ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432996.36012125 seconds. ×2 + 2.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-02 20:43:17.504] [info] Accepted new action goal | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 31 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.05sINFOros2_control_node[2026-06-02 20:43:34.801] [info] Received new action goal + 0.05sINFOros2_control_node[2026-06-02 20:43:34.801] [info] Accepted new action goal + 2.81sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 2.81sINFOobjective_server_nodePath shortcutter: [X_X] + 2.81sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). + 2.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.82sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 2.90sINFOobjective_server_nodeFound path in 1 iterations (0.00263519 s). + 3.02sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 3.05sINFOros2_control_node[2026-06-02 20:43:37.807] [info] Received new action goal + 3.05sINFOros2_control_node[2026-06-02 20:43:37.807] [info] Accepted new action goal + 3.10sINFOros2_control_node[2026-06-02 20:43:37.851] [info] Got request to cancel active goal. + 3.10sINFOros2_control_node[2026-06-02 20:43:37.851] [info] Canceling active goal... + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780433017.85855007 seconds ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780433018.46111274 seconds. ×2 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.88sINFOros2_control_node[2026-06-02 20:43:38.636] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-02 20:43:38.636] [info] Accepted new action goal + 6.33sINFOros2_control_node[2026-06-02 20:43:41.084] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 20:43:41.084] [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: 1780433029.65650702 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433030.31409955 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433030.38427019 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433030.93852258 seconds. ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.41sINFOobjective_server_nodePath shortcutter: [X______X] + 1.42sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Received new action goal + 1.42sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Accepted new action goal + 3.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433033.07866096 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: 1780433030.31409955 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433030.38427019 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433030.93852258 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.76sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433033.07866096 seconds ×2 + 3.33sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780433033.64070058 seconds. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 3.45sINFOros2_control_node[2026-06-02 20:43:53.764] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-02 20:43:53.764] [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: 1780433030.31409955 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433030.38427019 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433030.93852258 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.76sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-02 20:43:51.072] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433033.07866096 seconds ×2 + 3.33sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780433033.64070058 seconds. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 3.45sINFOros2_control_node[2026-06-02 20:43:53.764] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-02 20:43:53.764] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 33 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433042.06154180 seconds. ×2 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.749907050 [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 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.750004762 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258121031 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258160862 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-02 20:44:03.373054919 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375312177 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375336488 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.25sINFOobjective_server_node[0;93m2026-06-02 20:44:03.715533413 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733109377 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733151528 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433044.59461379 seconds ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433045.41772652 seconds. ×2 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.03sINFOobjective_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 + 4.04sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 33 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433042.06154180 seconds. ×2 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.749907050 [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 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.750004762 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258121031 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258160862 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-02 20:44:03.373054919 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375312177 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375336488 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.25sINFOobjective_server_node[0;93m2026-06-02 20:44:03.715533413 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733109377 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733151528 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433044.59461379 seconds ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433045.41772652 seconds. ×2 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.03sINFOobjective_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 + 4.04sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 33 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433042.06154180 seconds. ×2 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.749907050 [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 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.750004762 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258121031 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258160862 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-02 20:44:03.373054919 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375312177 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375336488 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.25sINFOobjective_server_node[0;93m2026-06-02 20:44:03.715533413 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733109377 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733151528 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433044.59461379 seconds ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433045.41772652 seconds. ×2 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.03sINFOobjective_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 + 4.04sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 33 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433042.06154180 seconds. ×2 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.749907050 [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 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.750004762 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258121031 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258160862 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-02 20:44:03.373054919 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375312177 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375336488 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.25sINFOobjective_server_node[0;93m2026-06-02 20:44:03.715533413 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733109377 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733151528 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433044.59461379 seconds ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433045.41772652 seconds. ×2 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.03sINFOobjective_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 + 4.04sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 33 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433042.06154180 seconds. ×2 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.749907050 [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 + 1.28sINFOobjective_server_node[0;93m2026-06-02 20:44:02.750004762 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258121031 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:44:03.258160862 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-02 20:44:03.373054919 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375312177 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-02 20:44:03.375336488 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.25sINFOobjective_server_node[0;93m2026-06-02 20:44:03.715533413 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733109377 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.26sINFOobjective_server_node[0;93m2026-06-02 20:44:03.733151528 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.12sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433044.59461379 seconds ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433045.41772652 seconds. ×2 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.03sINFOobjective_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 + 4.04sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [info] Received new action goal + 4.17sINFOros2_control_node[2026-06-02 20:44:05.634] [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: 1780433099.30721068 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433099.87170792 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X___X] + 0.77sINFOros2_control_node[2026-06-02 20:45:00.072] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-02 20:45:00.072] [info] Accepted new action goal + 2.04sINFOobjective_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 + 2.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 158 errors · 1247 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×272 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×193 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×193 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×271 + 0.03sINFOjoint_trajectory_controllerGoal reached, success! ×153 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×153 + 0.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.383209) ×2 + 0.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.383209)[0m ×2 + 0.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.433209) + 0.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.433209)[0m + 0.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.593209) ×2 + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.593209)[0m ×2 + 0.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.603209) + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.603209)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.623209) + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.623209)[0m + 0.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.673209) + 0.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.673209)[0m + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.803209) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.803209)[0m + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.833209) + 0.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.833209)[0m + 0.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.853209) + 0.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.853209)[0m + 0.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.943209) + 0.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.953209) + 0.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.943209)[0m + 0.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433165.953209)[0m + 0.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.013209) + 0.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.023209) + 0.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.013209)[0m + 0.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.023209)[0m + 0.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.043209) + 0.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.043209)[0m + 0.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.093209) + 0.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.093209)[0m + 0.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.143209) + 0.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.143209)[0m + 0.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.213209) + 0.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.213209)[0m + 0.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.233209) + 0.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.243209) + 0.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.233209)[0m + 0.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.243209)[0m + 0.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.273209) + 0.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.273209)[0m + 0.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.293209) + 0.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.293209)[0m + 1.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.353209) + 1.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.353209)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.373209) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.373209)[0m + 1.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.393209) + 1.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.393209)[0m + 1.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.413209) + 1.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.413209)[0m + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.433209) + 1.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.433209)[0m + 1.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.683209) + 1.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.683209)[0m + 1.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.693209) + 1.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.693209)[0m + 1.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.723209) + 1.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.723209)[0m + 1.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.743209) ×2 + 1.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.743209)[0m ×2 + 1.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.843209) + 1.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.843209)[0m + 1.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.863209) + 1.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.863209)[0m + 1.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.903209) + 1.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.913209) + 1.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.903209)[0m + 1.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433166.913209)[0m + 1.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.063209) + 1.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.063209)[0m + 1.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.073209) + 1.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.083209) + 1.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.073209)[0m + 1.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.083209)[0m + 1.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.103209) + 1.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.103209)[0m + 1.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.113209) + 1.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.113209)[0m + 2.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.313209) ×2 + 2.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.313209)[0m ×2 + 2.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.343209) + 2.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.343209)[0m + 2.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.393209) + 2.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.393209)[0m + 2.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.443209) + 2.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.443209)[0m + 2.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.463209) + 2.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.463209)[0m + 2.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.503209) + 2.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.503209)[0m + 2.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.513209) + 2.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.513209)[0m + 2.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.533209) + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.533209)[0m + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.613209) + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.623209) + 2.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.613209)[0m + 2.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.623209)[0m + 2.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.653209) + 2.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.653209)[0m + 2.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.683209) + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.683209)[0m + 2.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.723209) + 2.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.723209)[0m + 2.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.753209) ×2 + 2.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.753209)[0m ×2 + 2.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.773209) + 2.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.773209)[0m + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.843209) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.843209)[0m + 2.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.863209) + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.863209)[0m + 2.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.903209) + 2.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.913209) + 2.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.903209)[0m + 2.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433167.913209)[0m + 2.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.053209) ×2 + 2.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.053209)[0m ×2 + 2.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.183209) + 2.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.183209)[0m + 2.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.203209) + 2.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.203209)[0m + 2.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.233209) + 2.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.233209)[0m + 2.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.253209) + 2.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.253209)[0m + 3.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.333209) + 3.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.333209)[0m + 3.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.353209) + 3.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.353209)[0m + 3.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.393209) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.393209)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.403209) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.403209)[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.423209) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.423209)[0m + 3.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.543209) + 3.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.543209)[0m + 3.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433168.55449533 seconds ×2 + 3.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.563209) + 3.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.563209)[0m + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.573209) + 3.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.583209) + 3.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.573209)[0m + 3.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.593209) + 3.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.583209)[0m + 3.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433151.303209) that ends in the past (1780433168.593209)[0m + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780433169.17239070 seconds. ×2 + 3.94sINFOobjective_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 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 4.04sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 4.05sINFOros2_control_node[2026-06-02 20:46:09.368] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-02 20:46:09.368] [info] Accepted new action goal | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 108 errors · 1062 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×150 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×150 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×214 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×160 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×214 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×160 + 0.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.662292) + 0.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.662292)[0m + 0.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.702292) + 0.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.702292)[0m + 0.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.852292) + 0.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.852292)[0m + 0.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.872292) + 0.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.872292)[0m + 0.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.892292) ×2 + 0.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.892292)[0m ×2 + 0.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.952292) + 0.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.952292)[0m + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.972292) + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.982292) + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.972292)[0m + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433199.982292)[0m + 0.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.002292) + 0.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.002292)[0m + 0.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.022292) + 0.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.022292)[0m + 0.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.042292) + 0.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.042292)[0m + 0.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.132292) ×2 + 0.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.132292)[0m ×2 + 0.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.172292) + 0.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.172292)[0m + 1.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.502292) ×2 + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.502292)[0m ×2 + 1.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.532292) + 1.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.532292)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.552292) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.552292)[0m + 1.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.692292) + 1.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.692292)[0m + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.712292) + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.722292) ×2 + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.712292)[0m + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.732292) + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.722292)[0m ×2 + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.732292)[0m + 1.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.752292) + 1.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.752292)[0m + 1.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.782292) + 1.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433200.782292)[0m + 1.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.172292) + 1.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.172292)[0m + 1.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.192292) + 1.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.192292)[0m + 1.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.422292) + 1.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.422292)[0m + 1.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.442292) + 1.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.442292)[0m + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.502292) + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.512292) + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.502292)[0m + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.512292)[0m + 2.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.532292) + 2.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.532292)[0m + 2.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.552292) + 2.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.562292) + 2.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.552292)[0m + 2.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.562292)[0m + 2.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.572292) + 2.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.582292) + 2.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.572292)[0m + 2.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.582292)[0m + 2.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.642292) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.642292)[0m + 2.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.662292) + 2.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.662292)[0m + 2.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.702292) + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433201.702292)[0m + 2.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.022292) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.022292)[0m + 2.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.042292) + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.042292)[0m + 2.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.062292) + 2.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.062292)[0m + 2.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.222292) ×2 + 2.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.222292)[0m ×2 + 2.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.242292) + 2.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.252292) ×2 + 2.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.242292)[0m + 2.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.252292)[0m ×2 + 2.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.292292) + 2.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.292292)[0m + 3.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.502292) + 3.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.502292)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.582292) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.582292)[0m + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780433202.73745275 seconds ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.752292) + 3.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.752292)[0m + 3.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.782292) + 3.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.782292)[0m + 3.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.812292) + 3.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780433185.542292) that ends in the past (1780433202.812292)[0m + 3.89sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780433203.38120270 seconds. ×2 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.07sINFOobjective_server_nodeFound path in 6 iterations (0.00551967 s). + 5.13sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 5.15sINFOros2_control_node[2026-06-02 20:46:44.637] [info] Received new action goal + 5.15sINFOros2_control_node[2026-06-02 20:46:44.637] [info] Accepted new action goal | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 17 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.72% of iterations over budget over 5:10.011 of wall time (677/94358). Below 1% is expected on a non-realtime system.[0m + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780433234.68272662 seconds ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780433235.35516477 seconds. ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (9e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-02 20:47:15.649] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-02 20:47:15.649] [info] Accepted new action goal | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 17 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.72% of iterations over budget over 5:10.011 of wall time (677/94358). Below 1% is expected on a non-realtime system.[0m + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780433234.68272662 seconds ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780433235.35516477 seconds. ×2 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (9e-07 s). + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-02 20:47:15.649] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-02 20:47:15.649] [info] Accepted new action goal | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 5.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 5.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 5.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 5.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 5.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 5.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 23 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Received new action goal + 0.03sINFOros2_control_node[2026-06-02 20:47:22.662] [info] Accepted new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Received new action goal + 2.55sINFOros2_control_node[2026-06-02 20:47:25.184] [info] Accepted new action goal + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Got request to cancel active goal. + 3.20sINFOros2_control_node[2026-06-02 20:47:25.835] [info] Canceling active goal... + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433245.85590959 seconds ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433246.46069479 seconds. ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-02 20:47:26.625] [info] Accepted new action goal + 5.90sINFOobjective_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: 1780433256.83097720 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780433257.38837337 seconds. ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.82sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). + 0.82sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.84sINFOros2_control_node[2026-06-02 20:47:37.666] [info] Received new action goal + 0.84sINFOros2_control_node[2026-06-02 20:47:37.666] [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: 1780433267.27703047 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780433267.84022403 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] + 0.69sINFOros2_control_node[2026-06-02 20:47:47.965] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-02 20:47:47.965] [info] Accepted new action goal + 2.60sINFOobjective_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: 1780433278.34261131 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433278.97945738 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433279.06960893 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433279.62097549 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433279.64291215 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433280.20300603 seconds. ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [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: 1780433278.34261131 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433278.97945738 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433279.06960893 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433279.62097549 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433279.64291215 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433280.20300603 seconds. ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [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: 1780433278.34261131 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433278.97945738 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433279.06960893 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433279.62097549 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433279.64291215 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433280.20300603 seconds. ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [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: 1780433278.34261131 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433278.97945738 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433279.06960893 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433279.62097549 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433279.64291215 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433280.20300603 seconds. ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [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: 1780433278.34261131 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433278.97945738 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433279.06960893 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433279.62097549 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433279.64291215 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433280.20300603 seconds. ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [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: 1780433278.34261131 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433278.97945738 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433279.06960893 seconds ×2 + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433279.62097549 seconds. ×2 + 1.30sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433279.64291215 seconds ×2 + 1.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433280.20300603 seconds. ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-02 20:48:00.317] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 27 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433290.33830261 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433290.98016691 seconds. ×2 + 2.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.66% of iterations over budget over 6:10.013 of wall time (744/112712). Below 1% is expected on a non-realtime system.[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433292.44404817 seconds ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433293.00924802 seconds. ×2 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433293.01272368 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433293.57256269 seconds. ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433293.57301903 seconds ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 2 errors · 2 warnings · 27 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:48:10.333] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433290.33830261 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433290.98016691 seconds. ×2 + 2.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.66% of iterations over budget over 6:10.013 of wall time (744/112712). Below 1% is expected on a non-realtime system.[0m + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433292.44404817 seconds ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433293.00924802 seconds. ×2 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433293.01272368 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433293.57256269 seconds. ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433293.57301903 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_point_cloud_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [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: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [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: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [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: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [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: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.3s | 16 warnings · 233 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/2026-06-02-20-41-57-610346-5aad5eae0c78-9216 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.60sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.74sINFOros2_control_node-1process started with pid [9246] + 1.74sINFOmove_group-9process started with pid [9266] + 1.74sINFOparameter_manager_node-10process started with pid [9268] + 1.74sINFOwaypoint_manager_node-11process started with pid [9307] + 1.74sINFOmove_joint_resampler_node-12process started with pid [9309] + 1.74sINFOmove_end_effector_resampler_node-13process started with pid [9311] + 1.74sINFOobjective_server_node_main-14process started with pid [9313] + 1.74sINFOcomponent_container_mt-15process started with pid [9315] + 1.74sINFOexecute_objective_bridge-16process started with pid [9317] + 1.74sINFOui_teleop_bridge-17process started with pid [9319] + 1.74sINFOrosapi_node-18process started with pid [9321] + 1.74sINFOrosbridge_websocket-19process started with pid [9348] + 1.74sINFOtf2_web_republisher_node-20process started with pid [9367] + 1.74sINFOweb_video_server-21process started with pid [9371] + 1.75sINFOparameter_manager_nodeStarted parameter manager node. + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9248] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9250] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9252] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9254] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9257] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9260] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9263] + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.78sWARNros2_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 + 1.78sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.99sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.99sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.01sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 2.02sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.52sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOrosbridge_websocketregistered capabilities (classes): + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> + 2.63sINFOrosbridge_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. + 2.67sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.67sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.76sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.77sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.79sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.80sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.82sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.86sWARNrosbridge_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. + 2.86sWARNrosbridge_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 + 3.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 4.04sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 4.04sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 4.04sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 4.04sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 4.04sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 4.04sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 4.05sINFOcontroller_managerupdate rate is 600 Hz + 4.05sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.05sWARNcontroller_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. + 4.06sINFOros2_control_nodeupdate rate is 600 Hz[0m + 4.06sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 4.06sWARNros2_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 + 4.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.06sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 4.07sINFOobjective_server_node[2026-06-02 20:42:02.338] [moveit_pro_license] [info] + 4.07sINFOobjective_server_node************************************************* ×2 + 4.07sINFOobjective_server_node* MoveIt Pro License + 4.07sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 4.12sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 4.12sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 4.12sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.12sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 4.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.24sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.24sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 4.25sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.26sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.26sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 4.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.34sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 4.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 4.44sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.44sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 4.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.45sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.45sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 4.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.46sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 4.46sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 4.47sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 4.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.47sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 4.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.47sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 4.47sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 4.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 4.47sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 4.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.47sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 4.47sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 4.47sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 4.47sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 4.47sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 4.47sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 4.47sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 4.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.47sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 4.47sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 4.48sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 4.48sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 4.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 4.55sINFOros2_control_node[2026-06-02 20:42:02.821] [info] Controller state will be published at 20 Hz. + 4.55sINFOros2_control_node[2026-06-02 20:42:02.823] [info] JointVelocityController 'on_configure' succeeded. + 4.55sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 4.55sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.55sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 4.55sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 4.55sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 4.55sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 4.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 4.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 4.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 4.56sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 4.56sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 4.56sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 4.56sINFOros2_control_node[2026-06-02 20:42:02.828] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.56sINFOros2_control_node[2026-06-02 20:42:02.828] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.59sINFOros2_control_node[2026-06-02 20:42:02.861] [info] First order lag filter time constant set to: 0.2 seconds + 4.59sINFOros2_control_node[2026-06-02 20:42:02.861] [info] Controller state will be published at 50 Hz. + 4.60sINFOros2_control_node[2026-06-02 20:42:02.868] [info] Registered `FollowJointTrajectory` action server. + 4.60sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 4.60sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 4.64sINFOros2_control_node[2026-06-02 20:42:02.910] [info] Controller state will be published at 10 Hz. + 4.64sINFOros2_control_node[2026-06-02 20:42:02.912] [info] VelocityForceController 'on_configure' succeeded. + 4.64sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 4.64sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 4.65sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 4.65sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.65sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 4.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 4.65sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.66sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.66sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.67sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.74sINFOobjective_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. + 4.74sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 4.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9263] + 4.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9257] + 4.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9252] + 4.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9248] + 4.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9254] + 4.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9260] + 4.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9250] + 5.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 5.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 5.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 5.19sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 5.19sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 5.19sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 5.19sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 5.20sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 5.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 5.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 5.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 5.33sINFOmove_group ×2 + 5.33sINFOmove_group[92mYou can start planning now![0m + 5.59sWARNobjective_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/. + 5.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 5.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 5.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 6.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432924.83884931 seconds. ×2 + 6.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432924.84906006 seconds ×2 + 7.13sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432925.40012288 seconds. ×2 + 7.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 8.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432926.51025438 seconds ×2 + 8.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 9.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 10.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 10.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432926.51025438 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 4.28sINFOobjective_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 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.40sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.83sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.91sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.92sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432925.40012288 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432926.51025438 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 2.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 4.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 5.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 5.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 5.50sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.51sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 5.51sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 6.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 1 warning · 50 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432924.83884931 seconds. ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432924.84906006 seconds ×2 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432925.40012288 seconds. ×2 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432926.51025438 seconds ×2 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 4.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 6.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 | ||||
| − 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/2026-06-02-20-41-57-610346-5aad5eae0c78-9216 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.60sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.74sINFOros2_control_node-1process started with pid [9246] + 1.74sINFOmove_group-9process started with pid [9266] + 1.74sINFOparameter_manager_node-10process started with pid [9268] + 1.74sINFOwaypoint_manager_node-11process started with pid [9307] + 1.74sINFOmove_joint_resampler_node-12process started with pid [9309] + 1.74sINFOmove_end_effector_resampler_node-13process started with pid [9311] + 1.74sINFOobjective_server_node_main-14process started with pid [9313] + 1.74sINFOcomponent_container_mt-15process started with pid [9315] + 1.74sINFOexecute_objective_bridge-16process started with pid [9317] + 1.74sINFOui_teleop_bridge-17process started with pid [9319] + 1.74sINFOrosapi_node-18process started with pid [9321] + 1.74sINFOrosbridge_websocket-19process started with pid [9348] + 1.74sINFOtf2_web_republisher_node-20process started with pid [9367] + 1.74sINFOweb_video_server-21process started with pid [9371] + 1.75sINFOparameter_manager_nodeStarted parameter manager node. + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9248] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9250] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9252] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9254] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9257] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9260] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9263] + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.78sWARNros2_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 + 1.78sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.99sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.99sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.01sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.01sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 2.02sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.52sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOrosbridge_websocketregistered capabilities (classes): + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> + 2.63sINFOrosbridge_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. + 2.67sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.67sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.76sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.77sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.79sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.80sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.82sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.86sWARNrosbridge_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. + 2.86sWARNrosbridge_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 | 1 warning · 50 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432924.83884931 seconds. ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432924.84906006 seconds ×2 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432925.40012288 seconds. ×2 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432926.51025438 seconds ×2 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 4.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 6.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 1 warning · 50 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432924.83884931 seconds. ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432924.84906006 seconds ×2 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432925.40012288 seconds. ×2 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432926.51025438 seconds ×2 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 4.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 5.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 6.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 49 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432925.40012288 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432926.51025438 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 2.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 4.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 5.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 5.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 5.50sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.51sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 5.51sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432926.51025438 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 4.28sINFOobjective_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 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.40sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.83sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). 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: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [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: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [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: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [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: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432927.09351325 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432928.15367556 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432928.72400522 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432928.74412537 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432929.30445242 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432929.45504594 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432930.12749600 seconds. ×2 + 3.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432930.17764282 seconds ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432930.75776148 seconds. ×2 + 3.70sINFOobjective_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 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (1.901e-05 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-02 20:42:10.913] [info] Accepted new action goal + 5.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3148). Below 1% is expected on a non-realtime system.[0m + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.33sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Received new action goal + 6.34sINFOros2_control_node[2026-06-02 20:42:13.432] [info] Accepted new action goal | ||||