MoveIt Pro Objective Integration Tests

185

Total objective tests

Objectives passed

Objectives failed

121

Objectives skipped

8.7s

Avg test time

55%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

23 fail13 skip

! error	Take Wrist Camera Snapshot	wrist_snap.xml	17.0s	50 errors · 142 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×38 + 8.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 13.71sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.71sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.71sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.71sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.71sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.72sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.72sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.72sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.72sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.72sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.72sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.72sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.72sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.72sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.73sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.73sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.73sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.73sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.73sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process[ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.73sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process[ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.73sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process[ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.73sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] + 13.74sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process[ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.75sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process[ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.75sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.75sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.75sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.75sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.75sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.75sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.75sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] + 13.77sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 13.77sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] + 13.78sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] + 13.79sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] + 13.80sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] + 13.81sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] + 13.83sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] + 13.84sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] + 13.86sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] + 13.87sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] + 13.89sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] + 13.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19] + 13.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18] + 13.92sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 24403, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. + 13.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17] + 13.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 24400, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. + 13.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16] + 13.94sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 24395, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. + 13.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15] + 13.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14] + 13.97sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 24392, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 13.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13] + 13.98sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 24388, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. + 13.98sINFOweb_video_server-31process has finished cleanly [pid 24529] + 13.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12] + 13.99sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 24386, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. + 13.99sINFOtf2_web_republisher_node-30process has finished cleanly [pid 24525] + 13.99sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 24384, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. + 14.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11] + 14.00sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 24382, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. + 14.00sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 14.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10] + 14.01sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 24314, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. + 14.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9] + 14.03sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] + 14.03sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 24312, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. + 14.03sERRORui_teleop_bridge-28process has died [pid 24521, 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_x32xpkh7']. + 14.04sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] + 14.04sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 24310, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 14.05sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] + 14.06sINFOexecute_objective_bridge-27process has finished cleanly [pid 24448] + 14.07sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] + 14.07sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 24433] + 14.08sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] + 14.08sINFOmove_joint_resampler_node-23process has finished cleanly [pid 24414] + 14.08sINFOobjective_server_node_main-25process has finished cleanly [pid 24435] + 14.09sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] + 14.09sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.09sINFOwaypoint_manager_node-22process has finished cleanly [pid 24412] + 14.09sINFOparameter_manager_node-21process has finished cleanly [pid 24407] + 14.10sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] + 14.10sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 14.11sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 14.11sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 14.11sERRORui_teleop_bridgeTraceback (most recent call last): + 14.11sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 14.11sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 14.11sINFOui_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 + 14.11sINFOui_teleop_bridgerclpy.shutdown() + 14.11sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 14.11sINFOui_teleop_bridge_shutdown(context=context) + 14.11sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 14.11sINFOui_teleop_bridgereturn context.shutdown() + 14.11sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 14.11sINFOui_teleop_bridgeself.__context.shutdown() + 14.11sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 14.11sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m + 14.11sINFOcomponent_container_mtStopping planning scene monitor[0m + 14.11sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.11sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.11sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.11sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.11sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.11sINFOobjective_server_node[2026-06-03 06:25:19.302] [moveit_pro_license] [info] + 14.11sINFOobjective_server_node************************************************* ×2 + 14.11sINFOobjective_server_node* MoveIt Pro License + 14.11sINFOobjective_server_node* Application has successfully terminated + 14.11sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m + 14.11sINFOmove_groupDeleting MoveItCpp[0m + 14.11sINFOmove_groupStopped publishing maintained planning scene.[0m + 14.11sINFOmove_groupStopping world geometry monitor[0m + 14.11sINFOmove_groupStopping planning scene monitor[0m + 14.12sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system + 14.12sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 + 14.12sERRORodom_qos_relay.pyTraceback (most recent call last): + 14.12sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> + 14.12sINFOodom_qos_relay.pymain() + 14.12sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main + 14.12sINFOodom_qos_relay.pyrclpy.spin(node) + 14.12sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin + 14.12sINFOodom_qos_relay.pyexecutor.spin_once() + 14.12sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once + 14.12sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) + 14.12sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl + 14.12sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) + 14.12sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks + 14.12sINFOodom_qos_relay.pyreturn next(self._cb_iter) + 14.12sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks + 14.12sINFOodom_qos_relay.pyraise ExternalShutdownException() + 14.12sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException + 14.12sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 + 14.12sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system + 14.13sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 14.14sINFOcomponent_container_mt-26process has finished cleanly [pid 24443] + 14.21sINFOmove_group-20process has finished cleanly [pid 24405] + 14.24sINFOfoxglove_bridgeShutdown complete[0m + 14.25sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 24306] + 14.26sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 24304] + 14.28sINFOstatic_transform_publisher-4process has finished cleanly [pid 24300] + 14.30sINFOstatic_transform_publisher-3process has finished cleanly [pid 24298] + 14.31sERRORodom_qos_relay.py-5process has died [pid 24302, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. + 14.31sINFOstatic_transform_publisher-2process has finished cleanly [pid 24296] + 15.36sINFOfoxglove_bridge-29process has finished cleanly [pid 24523] + 15.36sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system + 18.71sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' + 18.72sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] + 18.73sERRORcomponent_container_isolated-1process has died [pid 24294, exit code -9, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_2azxylt0 --params-file /tmp/launch_params_2woeqntp -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped'].
! error	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Move Boxes Looping	move_boxes_looping.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Move to Arm Upright	move_to_arm_upright.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Move to Look at Plane	move_to_look_at_plane.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Plan Path Along Surface	plan_path_along_surface.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Point-to-Point Trajectory	point-to-point_trajectory.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Solution - Draw Picknik	solution_draw_picknik.xml	5.0s	25 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×25
! error	Solution - Draw Square	solution_draw_square.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Solution - Generate coverage path	solution_generate_coverage_path.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Solution - Move Forward 2m	solution_move_forward_2m.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Solution - Spray Plane	solution_spray_plane.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Take Scene Camera Snapshot	take_snap.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Find and Spray Plane	find_and_spray_plane.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
− skipped	Close Gripper	close_gripper.xml	0.0s	11 errors · 1 warning · 50 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 + 0.05sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group******************************************************** ×2 + 0.19sINFOmove_group* MoveGroup using: + 0.19sINFOmove_group* - apply_planning_scene_service + 0.19sINFOmove_group* - clear_octomap_service + 0.19sINFOmove_group* - ExecuteTaskSolution + 0.19sINFOmove_group* - get_group_urdf + 0.19sINFOmove_group* - load_geometry_from_file + 0.19sINFOmove_group* - get_planning_scene_service + 0.19sINFOmove_group* - kinematics_service + 0.19sINFOmove_group* - save_geometry_to_file + 0.19sINFOmove_group* - GetPlanningGroups + 0.19sINFOmove_group* - SetActiveControllerService + 0.19sINFOmove_group* - URDFPlanningSceneCapability + 0.19sINFOmove_group[0m + 0.19sINFOmove_group[92mYou can start planning now![0m + 1.52sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.57sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.58sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.64sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.76sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Open Gripper	open_gripper.xml	0.0s	11 errors · 1 warning · 50 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 + 0.05sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group******************************************************** ×2 + 0.19sINFOmove_group* MoveGroup using: + 0.19sINFOmove_group* - apply_planning_scene_service + 0.19sINFOmove_group* - clear_octomap_service + 0.19sINFOmove_group* - ExecuteTaskSolution + 0.19sINFOmove_group* - get_group_urdf + 0.19sINFOmove_group* - load_geometry_from_file + 0.19sINFOmove_group* - get_planning_scene_service + 0.19sINFOmove_group* - kinematics_service + 0.19sINFOmove_group* - save_geometry_to_file + 0.19sINFOmove_group* - GetPlanningGroups + 0.19sINFOmove_group* - SetActiveControllerService + 0.19sINFOmove_group* - URDFPlanningSceneCapability + 0.19sINFOmove_group[0m + 0.19sINFOmove_group[92mYou can start planning now![0m + 1.52sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.57sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.58sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.64sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.76sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	11 errors · 1 warning · 50 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 + 0.05sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group******************************************************** ×2 + 0.19sINFOmove_group* MoveGroup using: + 0.19sINFOmove_group* - apply_planning_scene_service + 0.19sINFOmove_group* - clear_octomap_service + 0.19sINFOmove_group* - ExecuteTaskSolution + 0.19sINFOmove_group* - get_group_urdf + 0.19sINFOmove_group* - load_geometry_from_file + 0.19sINFOmove_group* - get_planning_scene_service + 0.19sINFOmove_group* - kinematics_service + 0.19sINFOmove_group* - save_geometry_to_file + 0.19sINFOmove_group* - GetPlanningGroups + 0.19sINFOmove_group* - SetActiveControllerService + 0.19sINFOmove_group* - URDFPlanningSceneCapability + 0.19sINFOmove_group[0m + 0.19sINFOmove_group[92mYou can start planning now![0m + 1.52sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.57sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.58sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.64sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.76sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14

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

4 fail3 pass13 skip

! error	—	clear_snapshot.xml	19.2s	81 errors · 27 warnings · 3120 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-06-19-39-937948-39f84ff0e846-23477 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 7.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 7.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 7.61sINFOros2_control_node-8process started with pid [23523] + 7.61sINFOmove_group-20process started with pid [23622] + 7.61sINFOparameter_manager_node-21process started with pid [23627] + 7.61sINFOwaypoint_manager_node-22process started with pid [23629] + 7.61sINFOmove_joint_resampler_node-23process started with pid [23646] + 7.61sINFOmove_end_effector_resampler_node-24process started with pid [23648] + 7.61sINFOobjective_server_node_main-25process started with pid [23650] + 7.61sINFOcomponent_container_mt-26process started with pid [23652] + 7.61sINFOexecute_objective_bridge-27process started with pid [23664] + 7.61sINFOui_teleop_bridge-28process started with pid [23743] + 7.61sINFOfoxglove_bridge-29process started with pid [23745] + 7.61sINFOtf2_web_republisher_node-30process started with pid [23747] + 7.61sINFOweb_video_server-31process started with pid [23749] + 7.63sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 7.63sINFOcomponent_container_isolated-1process started with pid [23509] + 7.63sINFOstatic_transform_publisher-2process started with pid [23511] + 7.63sINFOstatic_transform_publisher-3process started with pid [23513] + 7.63sINFOstatic_transform_publisher-4process started with pid [23515] + 7.63sINFOodom_qos_relay.py-5process started with pid [23517] + 7.63sINFOscan_to_scan_filter_chain-6process started with pid [23519] + 7.63sINFOscan_to_scan_filter_chain-7process started with pid [23521] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [23525] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [23527] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [23529] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [23601] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [23603] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [23605] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [23607] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [23610] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [23613] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [23615] + 7.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [23619] + 7.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 7.68sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 7.68sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 7.68sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 7.68sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 7.68sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 7.69sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 7.69sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 7.69sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m ×2 + 7.69sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 7.70sINFOcomponent_container_mtLoad Library: /opt/ros/humble/lib/librobot_state_publisher_node.so[0m ×2 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 7.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 7.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 7.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 7.83sINFOcomponent_container_mtgot segment axle_link[0m ×2 + 7.83sINFOcomponent_container_mtgot segment base[0m ×2 + 7.83sINFOcomponent_container_mtgot segment base_link[0m ×2 + 7.83sINFOcomponent_container_mtgot segment base_link_inertia[0m ×2 + 7.83sINFOcomponent_container_mtgot segment chassis_link[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_001[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_002[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_002_001[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_004[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_005[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_006[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_007[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_008[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_009[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_010[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_011[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_012[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_013[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_014[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Cube_015[0m ×2 + 7.83sINFOcomponent_container_mtgot segment collision_Plane[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_001[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_002[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_003[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_004[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_005[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_006[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_007[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_008[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_009[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_010[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_011[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_Plane_012[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Box_A7_73[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Box_A8[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Box_C7_77[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Floor_376[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Pillar2_001[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Pillar3_001[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Pillar4_001[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Pillar5_001[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Pillar6_001[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Pillar7_001[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Pillar8_001[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Pillar_10_001[0m ×2 + 7.84sINFOcomponent_container_mtgot segment collision_SM_Room_426_001[0m ×2 + 7.85sINFOcomponent_container_mtgot segment collision_SM_Room_426_002[0m ×2 + 7.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 7.85sINFOcomponent_container_mtgot segment collision_SM_Room_426_003[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_SM_Room_426_004[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_SM_WallBack_396_001[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_SM_WallBack_396_002[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_SM_WallFront_382_001[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_SM_WallFront_382_002[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_SM_WallSide16_002[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_SM_WallSide4_001[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_001[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_002[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_003[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_004[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_005[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_006[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_007[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_008[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_009[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_010[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_011[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_012[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_013[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_014[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_supports_015[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_vacuum_base[0m ×2 + 7.86sINFOcomponent_container_mtgot segment collision_vacuum_suction_cups[0m ×2 + 7.86sINFOcomponent_container_mtgot segment flange[0m ×2 + 7.86sINFOcomponent_container_mtgot segment forearm_link[0m ×2 + 7.86sINFOcomponent_container_mtgot segment forearm_pinch_link[0m ×2 + 7.86sINFOcomponent_container_mtgot segment front_cover_link[0m ×2 + 7.86sINFOcomponent_container_mtgot segment front_left_wheel_link[0m ×2 + 7.87sINFOcomponent_container_mtgot segment front_lights_link[0m ×2 + 7.87sINFOcomponent_container_mtgot segment front_right_wheel_link[0m ×2 + 7.87sINFOcomponent_container_mtgot segment front_rocker_link[0m ×2 + 7.87sINFOcomponent_container_mtgot segment ft_frame[0m ×2 + 7.87sINFOcomponent_container_mtgot segment grasp_link[0m ×2 + 7.87sINFOcomponent_container_mtgot segment ham_assem_link[0m ×2 + 7.87sINFOcomponent_container_mtgot segment imu_link[0m ×2 + 7.87sINFOcomponent_container_mtgot segment left_side_cover_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment mid_mount[0m ×2 + 7.88sINFOcomponent_container_mtgot segment rear_cover_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment rear_left_wheel_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment rear_lights_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment rear_right_wheel_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment rear_rocker_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment ridgeback_base_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment right_side_cover_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment riser_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment shoulder_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment tool0[0m ×2 + 7.88sINFOcomponent_container_mtgot segment top_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment upper_arm_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment ur_mount_point[0m ×2 + 7.88sINFOcomponent_container_mtgot segment vacuum_base[0m ×2 + 7.88sINFOcomponent_container_mtgot segment virtual_rail_link_1[0m ×2 + 7.88sINFOcomponent_container_mtgot segment virtual_rail_link_2[0m ×2 + 7.88sINFOcomponent_container_mtgot segment visual_mesh[0m ×2 + 7.88sINFOcomponent_container_mtgot segment world[0m ×2 + 7.88sINFOcomponent_container_mtgot segment wrist_1_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment wrist_2_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment wrist_3_link[0m ×2 + 7.88sINFOcomponent_container_mtgot segment wrist_3_pinch_link[0m ×2 + 7.88sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 7.88sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m ×2 + 7.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 7.90sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 7.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 7.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 7.95sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m ×2 + 7.95sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/scan_front_filtered"[0m ×2 + 7.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 7.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 7.98sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/smoother_server/transition_event"[0m + 7.99sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m + 7.99sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description"[0m + 8.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 8.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 8.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 8.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 8.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 8.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 8.01sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 8.01sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 8.01sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 8.01sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/parameter_events"[0m + 8.01sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 8.05sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/odom_reliable"[0m + 8.05sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/odom"[0m + 8.05sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/objective_server_heartbeat"[0m + 8.05sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/scan_rear"[0m + 8.05sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/rosout"[0m + 8.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 8.07sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/store_joint_state"[0m + 8.07sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/scan_front"[0m ×2 + 8.07sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 8.09sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 8.09sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/map_server/transition_event"[0m ×2 + 8.09sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/local_costmap/local_costmap/transition_event"[0m + 8.09sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/imu_sensor_broadcaster/imu_reliable"[0m + 8.09sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/imu_sensor_broadcaster/imu"[0m + 8.09sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/diagnostics"[0m + 8.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 8.13sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/map"[0m + 8.13sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/controller_server/transition_event"[0m + 8.13sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/cmd_vel"[0m + 8.13sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/bond"[0m + 8.13sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/agent_interface/move_joint"[0m + 8.13sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scan_rear_filtered"[0m + 8.13sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/agent_interface/move_end_effector"[0m + 8.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 8.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 8.24sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×4 + 8.31sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 8.31sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 8.31sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 8.41sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 8.41sINFOwaypoint_manager_nodeLoaded robot model in 0.48967 seconds[0m + 8.41sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 8.41sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.41sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 8.41sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 8.41sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 8.50sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 8.51sINFOmove_groupLoaded robot model in 0.809479 seconds[0m + 8.51sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 8.51sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.51sINFOros2_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 + 8.51sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 8.51sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 8.65sERRORros2_control_nodeXML Error: Schema violation: unrecognized element ×2 + 8.65sINFOros2_control_nodeElement 'option', line 0 ×2 + 8.67sINFOros2_control_node[0m ×2 + 8.69sINFOros2_control_nodeFailed to initialize hardware 'ur_mujoco_control'[0m ×2 + 8.69sWARNros2_control_nodeSystem hardware component 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' failed to initialize.[0m ×2 + 8.69sERRORros2_control_nodeterminate called after throwing an instance of 'std::runtime_error' ×2 + 8.69sERRORros2_control_nodewhat(): Wrong state or command interface configuration. ×2 + 8.69sINFOros2_control_nodemissing state interfaces: ×2 + 8.69sINFOros2_control_node' imu_site/orientation.x ' ' imu_site/orientation.y ' ' imu_site/orientation.z ' ' imu_site/orientation.w ' ' imu_site/angular_velocity.x ' ' imu_site/angular_velocity.y ' ' imu_site/angular_velocity.z ' ' imu_site/linear_acceleration.x ' ' imu_site/linear_acceleration.y ' ' imu_site/linear_acceleration.z ' ×2 + 8.69sINFOros2_control_nodemissing command interfaces: ×2 + 8.69sINFOros2_control_node ×2 + 8.69sERRORros2_control_nodeStack trace (most recent call last): ×2 + 8.69sINFOros2_control_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 8.70sINFOros2_control_node#14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55601c6aeec4, in + 8.71sINFOros2_control_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd116d9ae3f, in __libc_start_main + 8.71sINFOros2_control_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd116d9ad8f, in + 8.71sINFOros2_control_node#11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55601c6ae36f, in + 8.71sINFOros2_control_node#10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fd1174b748a, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) + 8.71sINFOros2_control_node#9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fd1174b243f, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) + 8.71sINFOros2_control_node#8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fd116c69334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) + 8.71sINFOros2_control_node#7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fd116c45723, in + 8.71sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fd11706a4d7, in __cxa_throw + 8.71sINFOros2_control_node#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fd11706a276, in std::terminate() + 8.71sINFOros2_control_node#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fd11706a20b, in + 8.71sINFOros2_control_node#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fd11705eb9d, in + 8.71sINFOros2_control_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd116d997f2, in abort + 8.71sINFOros2_control_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd116db3475, in raise + 8.72sINFOros2_control_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd116e079fc, in pthread_kill + 8.72sERRORros2_control_nodeAborted (Signal sent by tkill() 23523 0) + 8.76sERRORros2_control_node-8process has died [pid 23523, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_e3g7enre --params-file /tmp/launch_params_i46r69n5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5t_u908n --params-file /tmp/launch_params_8lxytozf']. + 8.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 9.13sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.40sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 9.40sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 9.41sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 9.51sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 9.51sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 9.51sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 9.51sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 9.51sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 9.51sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 9.51sINFOmove_groupStarting planning scene monitor[0m ×2 + 9.51sINFOmove_groupListening to '/planning_scene'[0m ×2 + 9.51sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 9.51sINFOmove_groupListening to 'collision_object'[0m ×2 + 9.51sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 9.54sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/velocity_smoother/transition_event"[0m + 9.54sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/transformed_global_plan"[0m + 9.55sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/trajectories"[0m + 9.59sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/planning_scene"[0m + 9.59sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/plan_smoothed"[0m + 9.59sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/robot_description_semantic"[0m + 9.59sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 9.59sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/plan"[0m + 9.59sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 9.59sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 9.59sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 9.59sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/monitored_planning_scene"[0m + 9.60sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/preempt_teleop"[0m + 9.60sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/local_costmap/published_footprint"[0m + 9.60sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/planning_scene_world"[0m + 9.60sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/local_costmap/footprint"[0m + 9.60sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/local_costmap/costmap_updates"[0m + 9.60sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/planner_server/transition_event"[0m + 9.60sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/local_costmap/costmap"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_states"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/tf"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/published_footprint"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/global_costmap/global_costmap/transition_event"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/global_costmap/footprint"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/global_costmap/costmap_updates"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/speed_limit"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/global_costmap/costmap_raw"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/local_costmap/costmap_raw"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/global_costmap/costmap"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/collision_object"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/waypoint_follower/transition_event"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/cmd_vel_teleop"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/cmd_vel_nav"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/bt_navigator/transition_event"[0m + 9.61sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/behavior_server/transition_event"[0m ×2 + 9.61sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/attached_collision_object"[0m ×2 + 9.62sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/goal_pose"[0m ×2 + 9.94sINFOobjective_server_node[2026-06-03 06:19:52.169] [moveit_pro_license] [info] + 9.94sINFOobjective_server_node************************************************* ×6 + 9.94sINFOobjective_server_node* MoveIt Pro License ×3 + 9.94sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 9.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 9.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 9.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 9.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 9.99sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 10.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 10.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 10.10sWARNcomponent_container_mtPublisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 10.24sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 10.24sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 10.24sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 10.25sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 10.26sINFOobjective_server_nodeLoaded robot model in 0.285711 seconds[0m + 10.26sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 10.26sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.44sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.48sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 10.48sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 10.49sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 10.51sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/visual_markers"[0m + 10.52sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/description"[0m + 10.52sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/failure_reason_collector"[0m + 10.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/blackboard_contents"[0m + 10.52sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/behavior_tree_status"[0m + 10.52sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/statistics"[0m + 10.89sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 10.89sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 11.05sWARNobjective_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 + 11.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.71sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×6 + 12.18sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.18sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 12.18sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.20sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 12.20sINFOcomponent_container_mtLoaded robot model in 2.08646 seconds[0m + 12.20sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.20sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.65sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.65sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 12.67sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 13.71sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.71sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.71sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m ×2 + 13.71sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.74sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.74sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.79sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.82sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.85sINFOmove_group ×8 + 13.85sINFOmove_group******************************************************** ×4 + 13.85sINFOmove_group* MoveGroup using: ×2 + 13.85sINFOmove_group* - apply_planning_scene_service ×2 + 13.85sINFOmove_group* - clear_octomap_service ×2 + 13.85sINFOmove_group* - ExecuteTaskSolution ×2 + 13.85sINFOmove_group* - get_group_urdf ×2 + 13.85sINFOmove_group* - load_geometry_from_file ×2 + 13.85sINFOmove_group* - get_planning_scene_service ×2 + 13.85sINFOmove_group* - kinematics_service ×2 + 13.85sINFOmove_group* - save_geometry_to_file ×2 + 13.85sINFOmove_group* - GetPlanningGroups ×2 + 13.85sINFOmove_group* - SetActiveControllerService ×2 + 13.85sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.85sINFOmove_group[0m ×2 + 13.85sINFOmove_group[92mYou can start planning now![0m ×2 +156.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +162.92sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.92sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.92sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.92sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.92sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.92sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.92sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.94sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.94sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.94sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process[ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.94sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +162.95sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process[ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.95sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process[ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.95sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process[ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.95sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process[ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +162.97sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] +162.99sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +163.00sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +163.01sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +163.02sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +163.04sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +163.05sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +163.07sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +163.08sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +163.09sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +163.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19] +163.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18] +163.13sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 23619, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. +163.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17] +163.14sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 23615, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. +163.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16] +163.15sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 23613, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. +163.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15] +163.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14] +163.18sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 23610, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. +163.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13] +163.19sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 23607, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. +163.19sINFOweb_video_server-31process has finished cleanly [pid 23749] +163.19sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 23605, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. +163.19sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +163.19sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 23603, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. +163.19sINFOtf2_web_republisher_node-30process has finished cleanly [pid 23747] +163.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12] +163.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11] +163.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10] +163.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 23601, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. +163.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 23529, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. +163.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9] +163.23sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 23527, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. +163.24sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +163.24sERRORui_teleop_bridge-28process has died [pid 23743, 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_qtq_2ufn']. +163.25sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +163.26sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 23525, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. +163.27sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +163.27sINFOexecute_objective_bridge-27process has finished cleanly [pid 23664] +163.27sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 23648] +163.28sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +163.29sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +163.29sINFOobjective_server_node_main-25process has finished cleanly [pid 23650] +163.30sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +163.30sINFOmove_joint_resampler_node-23process has finished cleanly [pid 23646] +163.31sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +163.32sINFOwaypoint_manager_node-22process has finished cleanly [pid 23629] +163.32sINFOparameter_manager_node-21process has finished cleanly [pid 23627] +163.32sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +163.32sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +163.32sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +163.32sERRORui_teleop_bridgeTraceback (most recent call last): +163.32sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +163.32sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +163.32sINFOui_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 +163.32sINFOui_teleop_bridgerclpy.shutdown() +163.32sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +163.32sINFOui_teleop_bridge_shutdown(context=context) +163.32sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +163.32sINFOui_teleop_bridgereturn context.shutdown() +163.32sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +163.32sINFOui_teleop_bridgeself.__context.shutdown() +163.32sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +163.32sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +163.32sINFOcomponent_container_mtStopping planning scene monitor[0m +163.32sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +163.32sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +163.32sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +163.32sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +163.32sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +163.32sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +163.32sINFOobjective_server_node[2026-06-03 06:22:25.328] [moveit_pro_license] [info] +163.32sINFOobjective_server_node* Application has successfully terminated +163.32sINFOmove_groupDeleting MoveItCpp[0m +163.32sINFOmove_groupStopping world geometry monitor[0m +163.32sINFOmove_groupStopping planning scene monitor[0m +163.33sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +163.33sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +163.33sERRORodom_qos_relay.pyTraceback (most recent call last): +163.33sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +163.33sINFOodom_qos_relay.pymain() +163.33sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +163.33sINFOodom_qos_relay.pyrclpy.spin(node) +163.33sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin +163.33sINFOodom_qos_relay.pyexecutor.spin_once() +163.33sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once +163.33sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +163.33sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl +163.33sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) +163.33sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks +163.33sINFOodom_qos_relay.pyreturn next(self._cb_iter) +163.33sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks +163.33sINFOodom_qos_relay.pyraise ExternalShutdownException() +163.33sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +163.33sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 +163.33sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +163.34sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +163.35sINFOcomponent_container_mt-26process has finished cleanly [pid 23652] +163.42sINFOmove_group-20process has finished cleanly [pid 23622] +163.44sINFOfoxglove_bridgeShutdown complete[0m +163.46sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 23521] +163.47sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 23519] +163.49sINFOstatic_transform_publisher-4process has finished cleanly [pid 23515] +163.51sINFOstatic_transform_publisher-3process has finished cleanly [pid 23513] +163.52sINFOstatic_transform_publisher-2process has finished cleanly [pid 23511] +163.52sERRORodom_qos_relay.py-5process has died [pid 23517, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +164.56sINFOfoxglove_bridge-29process has finished cleanly [pid 23745] +164.56sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system +167.92sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +167.93sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +167.93sERRORcomponent_container_isolated-1process has died [pid 23509, exit code -9, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_84gkytdc --params-file /tmp/launch_params_k4lalgos -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +173.77sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-06-22-33-727365-39f84ff0e846-24262 +180.92sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'world' +180.92sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' +180.93sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'map' to 'odom' +181.02sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libmap_server_core.so +181.03sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +181.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +181.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +181.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +181.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +181.05sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.05sINFOmap_serverCreating +181.06sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libnav2_lifecycle_manager_core.so +181.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +181.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +181.09sINFOlifecycle_manager_localizationCreating +181.10sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +181.10sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +181.10sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +181.10sINFOmap_serverConfiguring +181.27sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libcontroller_server_core.so +181.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +181.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +181.33sINFOros2_control_node-8process started with pid [24308] +181.33sINFOmove_group-20process started with pid [24405] +181.33sINFOparameter_manager_node-21process started with pid [24407] +181.33sINFOwaypoint_manager_node-22process started with pid [24412] +181.33sINFOmove_joint_resampler_node-23process started with pid [24414] +181.33sINFOmove_end_effector_resampler_node-24process started with pid [24433] +181.33sINFOobjective_server_node_main-25process started with pid [24435] +181.33sINFOcomponent_container_mt-26process started with pid [24443] +181.33sINFOexecute_objective_bridge-27process started with pid [24448] +181.33sINFOui_teleop_bridge-28process started with pid [24521] +181.33sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.33sINFOfoxglove_bridge-29process started with pid [24523] +181.34sINFOtf2_web_republisher_node-30process started with pid [24525] +181.34sINFOweb_video_server-31process started with pid [24529] +181.36sINFOcomponent_container_isolated-1process started with pid [24294] +181.36sINFOstatic_transform_publisher-2process started with pid [24296] +181.36sINFOstatic_transform_publisher-3process started with pid [24298] +181.36sINFOstatic_transform_publisher-4process started with pid [24300] +181.36sINFOodom_qos_relay.py-5process started with pid [24302] +181.36sINFOscan_to_scan_filter_chain-6process started with pid [24304] +181.36sINFOscan_to_scan_filter_chain-7process started with pid [24306] +181.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [24310] +181.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [24312] +181.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [24314] +181.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [24382] +181.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [24384] +181.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [24386] +181.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [24388] +181.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [24392] +181.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [24395] +181.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [24400] +181.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [24403] +181.39sINFOmoveit_studio_containerLoad Library: /opt/ros/humble/lib/librobot_state_publisher_node.so +181.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +181.40sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +181.45sINFOcontroller_serverCreating controller server +181.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +181.48sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +181.48sINFOmap_serverActivating +181.48sINFOmap_serverCreating bond (map_server) to lifecycle manager. +181.51sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.52sINFOlocal_costmap.local_costmapCreating Costmap +181.53sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libsmoother_server_core.so +181.53sINFOrobot_state_publishergot segment axle_link +181.53sINFOrobot_state_publishergot segment base +181.53sINFOrobot_state_publishergot segment base_link +181.53sINFOrobot_state_publishergot segment base_link_inertia +181.53sINFOrobot_state_publishergot segment chassis_link +181.53sINFOrobot_state_publishergot segment collision_Cube +181.53sINFOrobot_state_publishergot segment collision_Cube_001 +181.53sINFOrobot_state_publishergot segment collision_Cube_002 +181.53sINFOrobot_state_publishergot segment collision_Cube_002_001 +181.53sINFOrobot_state_publishergot segment collision_Cube_004 +181.53sINFOrobot_state_publishergot segment collision_Cube_005 +181.53sINFOrobot_state_publishergot segment collision_Cube_006 +181.53sINFOrobot_state_publishergot segment collision_Cube_007 +181.53sINFOrobot_state_publishergot segment collision_Cube_008 +181.53sINFOrobot_state_publishergot segment collision_Cube_009 +181.53sINFOrobot_state_publishergot segment collision_Cube_010 +181.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +181.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +181.53sINFOrobot_state_publishergot segment collision_Cube_011 +181.53sINFOrobot_state_publishergot segment collision_Cube_012 +181.53sINFOrobot_state_publishergot segment collision_Cube_013 +181.54sINFOrobot_state_publishergot segment collision_Cube_014 +181.54sINFOrobot_state_publishergot segment collision_Cube_015 +181.54sINFOrobot_state_publishergot segment collision_Plane +181.54sINFOrobot_state_publishergot segment collision_Plane_001 +181.54sINFOrobot_state_publishergot segment collision_Plane_002 +181.54sINFOrobot_state_publishergot segment collision_Plane_003 +181.54sINFOrobot_state_publishergot segment collision_Plane_004 +181.54sINFOrobot_state_publishergot segment collision_Plane_005 +181.54sINFOrobot_state_publishergot segment collision_Plane_006 +181.54sINFOrobot_state_publishergot segment collision_Plane_007 +181.54sINFOrobot_state_publishergot segment collision_Plane_008 +181.54sINFOrobot_state_publishergot segment collision_Plane_009 +181.54sINFOrobot_state_publishergot segment collision_Plane_010 +181.54sINFOrobot_state_publishergot segment collision_Plane_011 +181.54sINFOrobot_state_publishergot segment collision_Plane_012 +181.54sINFOrobot_state_publishergot segment collision_SM_Box_A7_73 +181.54sINFOrobot_state_publishergot segment collision_SM_Box_A8 +181.54sINFOrobot_state_publishergot segment collision_SM_Box_C7_77 +181.54sINFOrobot_state_publishergot segment collision_SM_Floor_376 +181.54sINFOrobot_state_publishergot segment collision_SM_Pillar2_001 +181.54sINFOrobot_state_publishergot segment collision_SM_Pillar3_001 +181.54sINFOrobot_state_publishergot segment collision_SM_Pillar4_001 +181.54sINFOrobot_state_publishergot segment collision_SM_Pillar5_001 +181.54sINFOrobot_state_publishergot segment collision_SM_Pillar6_001 +181.54sINFOrobot_state_publishergot segment collision_SM_Pillar7_001 +181.54sINFOrobot_state_publishergot segment collision_SM_Pillar8_001 +181.54sINFOrobot_state_publishergot segment collision_SM_Pillar_10_001 +181.54sINFOrobot_state_publishergot segment collision_SM_Room_426_001 +181.54sINFOrobot_state_publishergot segment collision_SM_Room_426_002 +181.54sINFOrobot_state_publishergot segment collision_SM_Room_426_003 +181.54sINFOrobot_state_publishergot segment collision_SM_Room_426_004 +181.54sINFOrobot_state_publishergot segment collision_SM_WallBack_396_001 +181.54sINFOrobot_state_publishergot segment collision_SM_WallBack_396_002 +181.54sINFOrobot_state_publishergot segment collision_SM_WallFront_382_001 +181.54sINFOrobot_state_publishergot segment collision_SM_WallFront_382_002 +181.54sINFOrobot_state_publishergot segment collision_SM_WallSide16_002 +181.54sINFOrobot_state_publishergot segment collision_SM_WallSide4_001 +181.54sINFOrobot_state_publishergot segment collision_supports +181.54sINFOrobot_state_publishergot segment collision_supports_001 +181.54sINFOrobot_state_publishergot segment collision_supports_002 +181.54sINFOrobot_state_publishergot segment collision_supports_003 +181.54sINFOrobot_state_publishergot segment collision_supports_004 +181.54sINFOrobot_state_publishergot segment collision_supports_005 +181.54sINFOrobot_state_publishergot segment collision_supports_006 +181.54sINFOrobot_state_publishergot segment collision_supports_007 +181.54sINFOrobot_state_publishergot segment collision_supports_008 +181.54sINFOrobot_state_publishergot segment collision_supports_009 +181.54sINFOrobot_state_publishergot segment collision_supports_010 +181.54sINFOrobot_state_publishergot segment collision_supports_011 +181.54sINFOrobot_state_publishergot segment collision_supports_012 +181.54sINFOrobot_state_publishergot segment collision_supports_013 +181.54sINFOrobot_state_publishergot segment collision_supports_014 +181.54sINFOrobot_state_publishergot segment collision_supports_015 +181.54sINFOrobot_state_publishergot segment collision_vacuum_base +181.54sINFOrobot_state_publishergot segment collision_vacuum_suction_cups +181.54sINFOrobot_state_publishergot segment flange +181.54sINFOrobot_state_publishergot segment forearm_link +181.54sINFOrobot_state_publishergot segment forearm_pinch_link +181.54sINFOrobot_state_publishergot segment front_cover_link +181.54sINFOrobot_state_publishergot segment front_left_wheel_link +181.54sINFOrobot_state_publishergot segment front_lights_link +181.54sINFOrobot_state_publishergot segment front_right_wheel_link +181.54sINFOrobot_state_publishergot segment front_rocker_link +181.54sINFOrobot_state_publishergot segment ft_frame +181.54sINFOrobot_state_publishergot segment grasp_link +181.54sINFOrobot_state_publishergot segment ham_assem_link +181.54sINFOrobot_state_publishergot segment imu_link +181.54sINFOrobot_state_publishergot segment left_side_cover_link +181.54sINFOrobot_state_publishergot segment mid_mount +181.54sINFOrobot_state_publishergot segment rear_cover_link +181.54sINFOrobot_state_publishergot segment rear_left_wheel_link +181.54sINFOrobot_state_publishergot segment rear_lights_link +181.54sINFOrobot_state_publishergot segment rear_right_wheel_link +181.54sINFOrobot_state_publishergot segment rear_rocker_link +181.54sINFOrobot_state_publishergot segment ridgeback_base_link +181.54sINFOrobot_state_publishergot segment right_side_cover_link +181.54sINFOrobot_state_publishergot segment riser_link +181.54sINFOrobot_state_publishergot segment shoulder_link +181.54sINFOrobot_state_publishergot segment tool0 +181.54sINFOrobot_state_publishergot segment top_link +181.54sINFOrobot_state_publishergot segment upper_arm_link +181.54sINFOrobot_state_publishergot segment ur_mount_point +181.54sINFOrobot_state_publishergot segment vacuum_base +181.54sINFOrobot_state_publishergot segment virtual_rail_link_1 +181.54sINFOrobot_state_publishergot segment virtual_rail_link_2 +181.54sINFOrobot_state_publishergot segment visual_mesh +181.54sINFOrobot_state_publishergot segment world +181.54sINFOrobot_state_publishergot segment wrist_1_link +181.54sINFOrobot_state_publishergot segment wrist_2_link +181.54sINFOrobot_state_publishergot segment wrist_3_link +181.54sINFOrobot_state_publishergot segment wrist_3_pinch_link +181.57sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.57sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +181.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +181.59sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) +181.59sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +181.60sINFOlifecycle_manager_localizationServer map_server connected with bond. +181.60sINFOsmoother_serverCreating smoother server +181.60sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +181.60sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +181.61sINFOfoxglove_bridgeServer listening on port 3201 +181.62sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libplanner_server_core.so +181.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +181.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +181.63sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +181.65sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.67sINFOplanner_serverCreating +181.68sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static" +181.70sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/scan_front_filtered" +181.71sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.72sINFOglobal_costmap.global_costmapCreating Costmap +181.72sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped" +181.72sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m +181.72sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description" +181.72sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description"[0m +181.75sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libbehavior_server_core.so +181.75sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events" +181.75sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events"[0m +181.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +181.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +181.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +181.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +181.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +181.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +181.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +181.77sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +181.77sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +181.77sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +181.77sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +181.79sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/odom_reliable" +181.79sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/odom" +181.80sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/objective_server_heartbeat" +181.80sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/odom_reliable"[0m +181.80sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/odom"[0m +181.80sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/objective_server_heartbeat"[0m +181.80sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/scan_rear" +181.81sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/scan_rear"[0m +181.81sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.82sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/rosout" +181.83sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/rosout"[0m +181.84sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/store_joint_state" +181.84sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/store_joint_state"[0m +181.85sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf" +181.85sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf"[0m +181.85sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/scan_front" +181.86sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/move_joint" +181.88sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/move_end_effector" +181.89sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/map_server/transition_event" +181.90sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libbt_navigator_core.so +181.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +181.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +181.91sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/imu_sensor_broadcaster/imu_reliable" +181.91sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/imu_sensor_broadcaster/imu_reliable"[0m +181.91sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/imu_sensor_broadcaster/imu" +181.91sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/imu_sensor_broadcaster/imu"[0m +181.93sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +181.93sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +181.94sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/diagnostics" +181.95sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/controller_server/transition_event" +181.95sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/diagnostics"[0m +181.95sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.95sINFObt_navigatorCreating +181.95sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/controller_server/transition_event"[0m +181.95sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/cmd_vel" +181.95sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_joint" +181.95sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/scan_rear_filtered" +181.95sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/agent_interface/move_end_effector" +181.96sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/cmd_vel"[0m +181.96sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_joint"[0m +181.96sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/scan_rear_filtered"[0m +181.96sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/agent_interface/move_end_effector"[0m +181.97sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libwaypoint_follower_core.so +181.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +181.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +182.01sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +182.02sINFOwaypoint_followerCreating +182.03sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libvelocity_smoother_core.so +182.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +182.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +182.09sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +182.14sINFOlifecycle_manager_navigationCreating +182.14sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +182.20sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +182.20sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +182.21sINFOcontroller_serverConfiguring controller interface +182.21sINFOcontroller_servergetting goal checker plugins.. +182.21sINFOcontroller_serverController frequency set to 20.0000Hz +182.21sINFOlocal_costmap.local_costmapConfiguring +182.21sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +182.24sINFOmove_groupLoaded robot model in 0.828004 seconds[0m +182.25sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +182.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +182.31sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +182.31sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +182.33sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +182.36sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +182.37sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +182.38sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +182.40sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +182.41sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +182.44sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +182.44sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +182.45sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +182.45sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +182.47sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +182.47sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +182.47sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +182.47sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, and 0.500000 angular threshold. +182.47sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +182.47sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +182.47sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +182.47sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +182.49sINFOwaypoint_manager_nodeLoaded robot model in 0.551282 seconds[0m +182.50sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Reversing allowed. +182.50sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +182.50sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +182.50sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +182.52sINFOcontroller_serverOptimizer reset +182.53sINFOcontroller_serverController Server has FollowPath controllers available. +182.55sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +182.55sINFOsmoother_serverConfiguring smoother server +182.55sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +182.56sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +182.57sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +182.57sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +182.59sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +182.59sINFOplanner_serverConfiguring +182.59sINFOglobal_costmap.global_costmapConfiguring +182.61sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +182.62sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +182.62sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +182.62sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +182.62sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +182.63sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +182.71sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +182.71sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +182.73sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +182.75sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner +182.75sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +182.76sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1008 X 1310 at 0.050000 m/pix +182.76sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +182.76sINFOplanner_serverPlanner Server has GridBased planners available. +182.80sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +182.80sINFObehavior_serverConfiguring +182.82sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors/Spin +182.83sINFObehavior_serverConfiguring spin +182.86sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors/BackUp +182.86sINFObehavior_serverConfiguring backup +182.88sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +182.89sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading +182.89sINFObehavior_serverConfiguring drive_on_heading +182.93sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop +182.93sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +182.94sINFObehavior_serverConfiguring assisted_teleop +182.95sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +182.95sINFOros2_control_node#14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x562bfede2ec4, in +182.96sINFOros2_control_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae02505e3f, in __libc_start_main +182.96sINFOros2_control_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae02505d8f, in +182.96sINFOros2_control_node#11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x562bfede236f, in +182.96sINFOros2_control_node#10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fae02c2248a, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) +182.96sINFOros2_control_node#9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fae02c1d43f, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) +182.96sINFOros2_control_node#8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fae023d4334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) +182.96sINFOros2_control_node#7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fae023b0723, in +182.96sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fae027d54d7, in __cxa_throw +182.96sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors/Wait +182.96sINFOros2_control_node#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fae027d5276, in std::terminate() +182.96sINFOros2_control_node#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fae027d520b, in +182.96sINFOros2_control_node#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fae027c9b9d, in +182.96sINFOros2_control_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae025047f2, in abort +182.96sINFOros2_control_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae0251e475, in raise +182.96sINFOros2_control_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae025729fc, in pthread_kill +182.96sINFObehavior_serverConfiguring wait +182.96sERRORros2_control_nodeAborted (Signal sent by tkill() 24308 0) +182.97sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +182.97sINFObt_navigatorConfiguring +182.98sERRORros2_control_node-8process has died [pid 24308, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params__55h7_5n --params-file /tmp/launch_params_tddn7e3l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0vdydf1g --params-file /tmp/launch_params_or87l36c']. +183.09sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +183.12sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +183.16sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +183.16sINFOwaypoint_followerConfiguring +183.18sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +183.18sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +183.18sINFOvelocity_smootherConfiguring velocity smoother +183.18sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +183.18sINFOcontroller_serverActivating +183.18sINFOlocal_costmap.local_costmapActivating +183.18sINFOlocal_costmap.local_costmapChecking transform +183.18sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×23 +183.69sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/velocity_smoother/transition_event" +183.69sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/velocity_smoother/transition_event"[0m +183.69sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/transformed_global_plan" +183.69sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/transformed_global_plan"[0m +183.70sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/trajectories" +183.70sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/smoother_server/transition_event" +183.70sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/trajectories"[0m +183.70sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/smoother_server/transition_event"[0m +183.74sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/planning_scene" +183.74sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/plan_smoothed" +183.74sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/robot_description_semantic" +183.74sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/planning_scene"[0m +183.74sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/plan_smoothed"[0m +183.74sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/robot_description_semantic"[0m +183.74sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/moveit_pro_ui/do_teleoperate/result" +183.74sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/plan" +183.74sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/moveit_pro_ui/do_teleoperate/goal" +183.74sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/moveit_pro_ui/do_teleoperate/feedback" +183.74sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/moveit_pro_ui/do_teleoperate/cancel" +183.74sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/moveit_pro_ui/do_teleoperate/result"[0m +183.74sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/monitored_planning_scene" +183.74sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/plan"[0m +183.74sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m +183.74sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m +183.74sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m +183.74sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/monitored_planning_scene"[0m +183.74sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/preempt_teleop" +183.74sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/preempt_teleop"[0m +183.75sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/local_costmap/published_footprint" +183.75sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/local_costmap/published_footprint"[0m +183.75sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/planning_scene_world" +183.75sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/planning_scene_world"[0m +183.75sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/local_costmap/footprint" +183.75sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/local_costmap/footprint"[0m +183.75sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/local_costmap/costmap_updates" +183.75sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/planner_server/transition_event" +183.75sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/local_costmap/costmap_updates"[0m +183.75sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/planner_server/transition_event"[0m +183.75sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/local_costmap/costmap" +183.75sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/local_costmap/costmap"[0m +183.75sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_states" +183.75sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/map" +183.75sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/global_costmap/published_footprint" +183.75sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/global_costmap/global_costmap/transition_event" +183.75sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_states"[0m +183.75sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/footprint" +183.75sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/global_costmap/costmap_updates" +183.75sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/map"[0m +183.75sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/global_costmap/published_footprint"[0m +183.75sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/global_costmap/global_costmap/transition_event"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/footprint"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/global_costmap/costmap_updates"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/speed_limit" +183.76sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/speed_limit"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/global_costmap/costmap_raw" +183.76sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/local_costmap/local_costmap/transition_event" +183.76sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/local_costmap/costmap_raw" +183.76sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/global_costmap/costmap" +183.76sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/global_costmap/costmap_raw"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/local_costmap/local_costmap/transition_event"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/local_costmap/costmap_raw"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/global_costmap/costmap"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/collision_object" +183.76sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/waypoint_follower/transition_event" +183.76sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/cmd_vel_teleop" +183.76sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/cmd_vel_nav" +183.76sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/bt_navigator/transition_event" +183.76sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/collision_object"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/waypoint_follower/transition_event"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/cmd_vel_teleop"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/cmd_vel_nav"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/bt_navigator/transition_event"[0m +183.76sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/bond" +183.76sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/behavior_server/transition_event" +183.76sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/bond"[0m +183.77sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/attached_collision_object" +183.77sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/goal_pose" +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +183.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +183.92sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +183.94sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +184.01sINFOobjective_server_node[2026-06-03 06:22:46.244] [moveit_pro_license] [info] +184.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +184.05sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +184.43sINFOobjective_server_nodeLoaded robot model in 0.38972 seconds[0m +184.53sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/statistics" +184.53sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/statistics"[0m +184.53sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/failure_reason_collector" +184.53sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/failure_reason_collector"[0m +184.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/description" +184.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/description"[0m +185.12sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/visual_markers" +185.12sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/blackboard_contents" +185.12sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/visual_markers"[0m +185.12sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/blackboard_contents"[0m +185.12sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/behavior_tree_status" +185.12sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/behavior_tree_status"[0m +186.17sINFOcomponent_container_mtLoaded robot model in 2.08998 seconds[0m +186.69sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/transient_monitored_planning_scene_without_octomap" +187.73sINFOmove_groupMoveGroup debug mode is ON +187.73sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" +189.20sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers +189.21sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers +189.25sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers +189.27sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers +189.28sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers +189.29sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers +189.30sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers +189.33sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers +189.41sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers +189.42sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers +189.45sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers
! error	—	reset_planning_scene.xml	5.0s	11 errors · 1 warning · 60 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 + 0.05sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group******************************************************** ×2 + 0.19sINFOmove_group* MoveGroup using: + 0.19sINFOmove_group* - apply_planning_scene_service + 0.19sINFOmove_group* - clear_octomap_service + 0.19sINFOmove_group* - ExecuteTaskSolution + 0.19sINFOmove_group* - get_group_urdf + 0.19sINFOmove_group* - load_geometry_from_file + 0.19sINFOmove_group* - get_planning_scene_service + 0.19sINFOmove_group* - kinematics_service + 0.19sINFOmove_group* - save_geometry_to_file + 0.19sINFOmove_group* - GetPlanningGroups + 0.19sINFOmove_group* - SetActiveControllerService + 0.19sINFOmove_group* - URDFPlanningSceneCapability + 0.19sINFOmove_group[0m + 0.19sINFOmove_group[92mYou can start planning now![0m + 1.52sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.57sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.58sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.64sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.76sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers
! error	—	teleoperate.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	—	vector_subtrees_example.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
✓ passed	—	clear_snapshot.xml	6.2s	37 errors · 14 warnings · 343 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-03-06-25-27-148016-39f84ff0e846-25096 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.23sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.24sINFOros2_control_node-1process started with pid [25126] + 1.24sINFOmove_group-9process started with pid [25145] + 1.24sINFOparameter_manager_node-10process started with pid [25149] + 1.24sINFOwaypoint_manager_node-11process started with pid [25187] + 1.24sINFOmove_joint_resampler_node-12process started with pid [25189] + 1.24sINFOmove_end_effector_resampler_node-13process started with pid [25191] + 1.24sINFOobjective_server_node_main-14process started with pid [25193] + 1.24sINFOcomponent_container_mt-15process started with pid [25195] + 1.24sINFOexecute_objective_bridge-16process started with pid [25197] + 1.24sINFOui_teleop_bridge-17process started with pid [25199] + 1.24sINFOfoxglove_bridge-18process started with pid [25201] + 1.24sINFOtf2_web_republisher_node-19process started with pid [25203] + 1.24sINFOweb_video_server-20process started with pid [25205] + 1.24sINFOparameter_manager_nodeStarted parameter manager node. + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25128] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25130] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25132] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25134] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25137] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25139] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25142] + 1.27sWARNros2_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 + 1.27sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.35sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.35sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.37sINFOfoxglove_bridgeServer listening on port 3201 + 1.37sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.39sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.40sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.40sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state" + 1.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.67sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.67sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.25sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.41sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf_static" + 2.41sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf_static"[0m + 2.41sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic" + 2.41sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic"[0m + 2.41sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.42sINFOros2_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. + 2.42sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.42sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.43sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/planning_scene_world" + 2.43sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/planning_scene_world"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/planning_scene" + 2.46sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/planning_scene"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/objective_server_heartbeat" + 2.46sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf" + 2.46sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/objective_server_heartbeat"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint" + 2.46sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/move_end_effector" + 2.46sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.46sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.46sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.46sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/monitored_planning_scene" + 2.46sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/robot_description" + 2.46sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/monitored_planning_scene"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/robot_description"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/joint_states" + 2.47sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/joint_states"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/collision_object" + 2.47sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/collision_object"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/attached_collision_object" + 2.47sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_joint" + 2.47sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.47sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector" + 2.47sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/attached_collision_object"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_joint"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector"[0m + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.40sINFOobjective_server_node[2026-06-03 06:25:31.081] [moveit_pro_license] [info] + 3.40sINFOobjective_server_node************************************************* ×2 + 3.40sINFOobjective_server_node* MoveIt Pro License + 3.40sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.66sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.66sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.66sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.66sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.66sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.66sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.67sINFOcontroller_managerupdate rate is 600 Hz + 3.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.67sWARNcontroller_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. + 3.67sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.67sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.67sWARNros2_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 + 3.68sINFOobjective_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. + 3.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.68sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 3.68sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 3.68sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector" + 3.68sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector"[0m + 3.69sINFOcontroller_managerLoading controller 'joint_velocity_controller' ×2 + 3.69sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description" + 3.69sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description"[0m + 3.70sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.70sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.83sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.83sERRORcontroller_managerA controller named 'joint_velocity_controller' was already loaded inside the controller manager + 3.84sERRORros2_control_nodeA controller named 'joint_velocity_controller' was already loaded inside the controller manager[0m + 3.84sFATALspawner_joint_velocity_controller[91mFailed loading controller [1mjoint_velocity_controller[0m + 3.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' ×2 + 3.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' ×2 + 3.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.89sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_joint_velocity_controller'. + 3.90sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_joint_velocity_controller'.[0m + 3.90sERRORcontroller_managerA controller named 'joint_state_broadcaster' was already loaded inside the controller manager + 3.90sERRORcontroller_managerA controller named 'force_torque_sensor_broadcaster' was already loaded inside the controller manager + 3.90sERRORros2_control_nodeA controller named 'joint_state_broadcaster' was already loaded inside the controller manager[0m + 3.90sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.90sERRORros2_control_nodeA controller named 'force_torque_sensor_broadcaster' was already loaded inside the controller manager[0m + 3.90sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.90sFATALspawner_joint_state_broadcaster[91mFailed loading controller [1mjoint_state_broadcaster[0m + 3.90sFATALspawner_force_torque_sensor_broadcaster[91mFailed loading controller [1mforce_torque_sensor_broadcaster[0m + 3.90sFATALspawner_arm_only_joint_velocity_controller[91mFailed loading controller [1marm_only_joint_velocity_controller[0m + 3.90sFATALros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[91mFailed loading controller [1mforce_torque_sensor_broadcaster[0m + 3.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 3.96sINFOobjective_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. + 3.96sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 3.98sINFOros2_control_node[2026-06-03 06:25:31.662] [info] Controller state will be published at 20 Hz. + 3.98sINFOros2_control_node[2026-06-03 06:25:31.663] [info] JointVelocityController 'on_configure' succeeded. + 3.98sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_velocity_force_controller'. + 3.98sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_velocity_force_controller'.[0m + 3.98sINFOcontroller_managerLoading controller 'joint_trajectory_controller' ×2 + 3.98sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.98sFATALspawner_arm_only_velocity_force_controller[91mFailed loading controller [1marm_only_velocity_force_controller[0m + 4.01sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 4.01sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 4.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.01sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 4.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.08sERRORcontroller_managerThe 'type' param was not defined for 'imu_sensor_broadcaster'. + 4.08sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.08sERRORros2_control_nodeThe 'type' param was not defined for 'imu_sensor_broadcaster'.[0m + 4.08sINFOcontroller_managerLoading controller 'velocity_force_controller' ×2 + 4.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.08sFATALspawner_imu_sensor_broadcaster[91mFailed loading controller [1mimu_sensor_broadcaster[0m + 4.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 + 4.13sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 25128, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 4.15sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.15sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 4.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.16sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller'. + 4.16sERRORcontroller_managerA controller named 'velocity_force_controller' was already loaded inside the controller manager + 4.17sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller'.[0m + 4.17sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.17sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller_nav2'. + 4.17sERRORros2_control_nodeA controller named 'velocity_force_controller' was already loaded inside the controller manager[0m + 4.17sERRORcontroller_managerThe 'type' param was not defined for 'vacuum_gripper'. + 4.17sFATALspawner_velocity_force_controller[91mFailed loading controller [1mvelocity_force_controller[0m + 4.17sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller_nav2'.[0m + 4.17sERRORros2_control_nodeThe 'type' param was not defined for 'vacuum_gripper'.[0m + 4.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.17sFATALspawner_platform_velocity_controller_nav2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m + 4.17sERRORcontroller_managerA controller named 'joint_trajectory_controller' was already loaded inside the controller manager + 4.17sFATALspawner_platform_velocity_controller[91mFailed loading controller [1mplatform_velocity_controller[0m + 4.17sERRORros2_control_nodeA controller named 'joint_trajectory_controller' was already loaded inside the controller manager[0m + 4.17sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 4.17sFATALspawner_joint_trajectory_controller[91mFailed loading controller [1mjoint_trajectory_controller[0m + 4.17sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 4.17sFATALros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[91mFailed loading controller [1mjoint_trajectory_controller[0m + 4.17sFATALspawner_vacuum_gripper[91mFailed loading controller [1mvacuum_gripper[0m + 4.17sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 4.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.18sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 4.18sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 4.18sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 4.18sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 4.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 4.18sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 4.18sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 4.18sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 4.18sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 4.18sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.18sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.19sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 4.19sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 4.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 4.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 4.19sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 4.19sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.19sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 4.20sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 4.20sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 4.20sINFOros2_control_node[2026-06-03 06:25:31.887] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.20sINFOros2_control_node[2026-06-03 06:25:31.887] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.24sINFOros2_control_node[2026-06-03 06:25:31.927] [info] First order lag filter time constant set to: 0.2 seconds + 4.24sINFOros2_control_node[2026-06-03 06:25:31.928] [info] Controller state will be published at 50 Hz. + 4.25sINFOros2_control_node[2026-06-03 06:25:31.935] [info] Registered `FollowJointTrajectory` action server. + 4.25sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 4.25sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 4.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25142] + 4.29sINFOros2_control_node[2026-06-03 06:25:31.976] [info] Controller state will be published at 10 Hz. + 4.29sINFOros2_control_node[2026-06-03 06:25:31.977] [info] VelocityForceController 'on_configure' succeeded. + 4.29sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 4.29sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.29sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 4.29sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 4.30sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.31sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.39sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth" + 4.39sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth"[0m + 4.39sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/camera_info" + 4.39sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/camera_info"[0m + 4.40sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers" + 4.40sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers"[0m + 4.41sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event" + 4.41sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event"[0m + 4.41sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/velocity_force_controller/command" + 4.41sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color" + 4.41sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/velocity_force_controller/command"[0m + 4.41sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m + 4.41sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points" + 4.41sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/depth" + 4.41sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/color" + 4.41sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points"[0m + 4.41sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/depth"[0m + 4.41sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/color"[0m + 4.42sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/transient_monitored_planning_scene_without_octomap" + 4.42sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 4.42sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/joint_velocity_controller/controller_state" + 4.42sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_velocity_controller/command" + 4.42sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event" + 4.42sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/joint_velocity_controller/controller_state"[0m + 4.42sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_velocity_controller/command"[0m + 4.42sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event"[0m + 4.42sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_trajectory_controller/controller_state" + 4.42sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_admittance_controller/transition_event" + 4.42sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.42sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_state_broadcaster/transition_event" + 4.42sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/robotiq_gripper_controller/transition_event" + 4.42sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_trajectory_controller/controller_state"[0m + 4.42sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.42sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.42sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_state_broadcaster/transition_event"[0m + 4.42sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[ros2run]: Process exited with failure 1 + 4.43sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/force_torque_sensor_broadcaster/wrench" + 4.43sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.43sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory" + 4.43sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/transition_event" + 4.43sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 4.43sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 4.43sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/dynamic_joint_states" + 4.43sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/transition_event" + 4.43sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/dynamic_joint_states"[0m + 4.43sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/transition_event"[0m + 4.43sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/velocity_force_controller/controller_state" + 4.43sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/blackboard_contents" + 4.44sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/velocity_force_controller/controller_state"[0m + 4.44sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/blackboard_contents"[0m + 4.44sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/behavior_tree_status" + 4.44sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/scene_camera/camera_info" + 4.44sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/wrist_camera/points" + 4.44sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 4.44sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/behavior_tree_status"[0m + 4.44sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/scene_camera/camera_info"[0m + 4.44sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/wrist_camera/points"[0m + 4.44sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 4.45sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has died [pid 25134, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller']. + 4.51sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.53sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.54sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.55sWARNobjective_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/. + 4.58sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.58sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.58sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.58sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.58sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25137] + 4.59sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 4.62sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 4.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25139] + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25132] + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25130] + 4.65sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 4.68sINFOmove_group ×2 + 4.68sINFOmove_group[92mYou can start planning now![0m + 4.98sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 5.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 5.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 5.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 5.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 5.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780467933.27309465 seconds. ×2 + 5.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780467933.28325200 seconds ×2 + 5.76sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 5.76sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 6.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780467933.82414842 seconds. ×2 + 6.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.28sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.28sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 7.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780467934.94428611 seconds ×2 + 7.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 8.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 9.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 9.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 9.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	52 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780467934.94428611 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 3.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 4.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.23sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 4.23sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 6.43sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.75sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.76sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.76sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
✓ passed	—	reset_planning_scene.xml	0.6s	48 info
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780467934.94428611 seconds ×2 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 4.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.21sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 5.21sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 7.40sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.1s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	createvector.xml	0.0s	65 info
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780467933.27309465 seconds. ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780467933.28325200 seconds ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780467933.82414842 seconds. ×2 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780467934.94428611 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 6.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 6.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 6.79sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.80sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 6.80sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal
− skipped	—	addtovector.xml	0.0s	2 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-06-22-33-727365-39f84ff0e846-24262 + 0.00sINFOlaunchDefault logging verbosity is set to INFO
− skipped	—	addtovector.xml	0.0s	5 warnings · 145 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-03-06-25-27-148016-39f84ff0e846-25096 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.23sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.24sINFOros2_control_node-1process started with pid [25126] + 1.24sINFOmove_group-9process started with pid [25145] + 1.24sINFOparameter_manager_node-10process started with pid [25149] + 1.24sINFOwaypoint_manager_node-11process started with pid [25187] + 1.24sINFOmove_joint_resampler_node-12process started with pid [25189] + 1.24sINFOmove_end_effector_resampler_node-13process started with pid [25191] + 1.24sINFOobjective_server_node_main-14process started with pid [25193] + 1.24sINFOcomponent_container_mt-15process started with pid [25195] + 1.24sINFOexecute_objective_bridge-16process started with pid [25197] + 1.24sINFOui_teleop_bridge-17process started with pid [25199] + 1.24sINFOfoxglove_bridge-18process started with pid [25201] + 1.24sINFOtf2_web_republisher_node-19process started with pid [25203] + 1.24sINFOweb_video_server-20process started with pid [25205] + 1.24sINFOparameter_manager_nodeStarted parameter manager node. + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25128] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25130] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25132] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25134] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25137] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25139] + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25142] + 1.27sWARNros2_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 + 1.27sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.35sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.35sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.37sINFOfoxglove_bridgeServer listening on port 3201 + 1.37sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.39sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.39sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.40sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.40sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state" + 1.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.66sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.67sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.67sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.25sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.41sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf_static" + 2.41sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/tf_static"[0m + 2.41sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic" + 2.41sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description_semantic"[0m + 2.41sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.42sINFOros2_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. + 2.42sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.42sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.43sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/planning_scene_world" + 2.43sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/planning_scene_world"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/planning_scene" + 2.46sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/planning_scene"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/objective_server_heartbeat" + 2.46sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf" + 2.46sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/objective_server_heartbeat"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint" + 2.46sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/move_end_effector" + 2.46sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.46sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.46sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.46sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.46sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/monitored_planning_scene" + 2.46sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/robot_description" + 2.46sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/monitored_planning_scene"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/robot_description"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/joint_states" + 2.47sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/joint_states"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/collision_object" + 2.47sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/collision_object"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/attached_collision_object" + 2.47sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_joint" + 2.47sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.47sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector" + 2.47sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/attached_collision_object"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_joint"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/agent_interface/move_end_effector"[0m + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.40sINFOobjective_server_node[2026-06-03 06:25:31.081] [moveit_pro_license] [info] + 3.40sINFOobjective_server_node************************************************* ×2 + 3.40sINFOobjective_server_node* MoveIt Pro License + 3.40sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.66sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.66sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.66sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.66sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.66sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.66sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.67sINFOcontroller_managerupdate rate is 600 Hz + 3.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.67sWARNcontroller_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. + 3.67sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.67sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.67sWARNros2_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 + 3.68sINFOobjective_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. + 3.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.68sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 3.68sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 3.68sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector" + 3.68sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector"[0m + 3.69sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.69sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.69sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description" + 3.69sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description"[0m + 3.70sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.70sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	11 errors · 1 warning · 50 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 + 0.05sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group******************************************************** ×2 + 0.19sINFOmove_group* MoveGroup using: + 0.19sINFOmove_group* - apply_planning_scene_service + 0.19sINFOmove_group* - clear_octomap_service + 0.19sINFOmove_group* - ExecuteTaskSolution + 0.19sINFOmove_group* - get_group_urdf + 0.19sINFOmove_group* - load_geometry_from_file + 0.19sINFOmove_group* - get_planning_scene_service + 0.19sINFOmove_group* - kinematics_service + 0.19sINFOmove_group* - save_geometry_to_file + 0.19sINFOmove_group* - GetPlanningGroups + 0.19sINFOmove_group* - SetActiveControllerService + 0.19sINFOmove_group* - URDFPlanningSceneCapability + 0.19sINFOmove_group[0m + 0.19sINFOmove_group[92mYou can start planning now![0m + 1.52sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.57sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.58sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.64sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.76sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	65 info
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780467933.27309465 seconds. ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780467933.28325200 seconds ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780467933.82414842 seconds. ×2 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780467934.94428611 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 6.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 6.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 6.79sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.80sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 6.80sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal
− skipped	—	createvector.xml	0.0s	11 errors · 1 warning · 50 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 + 0.05sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group******************************************************** ×2 + 0.19sINFOmove_group* MoveGroup using: + 0.19sINFOmove_group* - apply_planning_scene_service + 0.19sINFOmove_group* - clear_octomap_service + 0.19sINFOmove_group* - ExecuteTaskSolution + 0.19sINFOmove_group* - get_group_urdf + 0.19sINFOmove_group* - load_geometry_from_file + 0.19sINFOmove_group* - get_planning_scene_service + 0.19sINFOmove_group* - kinematics_service + 0.19sINFOmove_group* - save_geometry_to_file + 0.19sINFOmove_group* - GetPlanningGroups + 0.19sINFOmove_group* - SetActiveControllerService + 0.19sINFOmove_group* - URDFPlanningSceneCapability + 0.19sINFOmove_group[0m + 0.19sINFOmove_group[92mYou can start planning now![0m + 1.52sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.57sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.58sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.64sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.76sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers
− skipped	—	find_nearest_pose_in_path.xml	0.0s	11 errors · 1 warning · 50 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 + 0.05sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.05sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.05sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.11sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.19sINFOmove_group ×4 + 0.19sINFOmove_group******************************************************** ×2 + 0.19sINFOmove_group* MoveGroup using: + 0.19sINFOmove_group* - apply_planning_scene_service + 0.19sINFOmove_group* - clear_octomap_service + 0.19sINFOmove_group* - ExecuteTaskSolution + 0.19sINFOmove_group* - get_group_urdf + 0.19sINFOmove_group* - load_geometry_from_file + 0.19sINFOmove_group* - get_planning_scene_service + 0.19sINFOmove_group* - kinematics_service + 0.19sINFOmove_group* - save_geometry_to_file + 0.19sINFOmove_group* - GetPlanningGroups + 0.19sINFOmove_group* - SetActiveControllerService + 0.19sINFOmove_group* - URDFPlanningSceneCapability + 0.19sINFOmove_group[0m + 0.19sINFOmove_group[92mYou can start planning now![0m + 1.52sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.57sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.58sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.60sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.64sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.73sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.76sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers
− skipped	—	find_nearest_pose_in_path.xml	0.0s	65 info
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780467933.27309465 seconds. ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780467933.28325200 seconds ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780467933.82414842 seconds. ×2 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780467934.94428611 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 6.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 6.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 6.79sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.80sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 6.80sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal
− skipped	—	request_teleoperation.xml	0.0s	45 info
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780467934.94428611 seconds ×2 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 4.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.21sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 5.21sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal
− skipped	—	teleoperate.xml	0.0s	46 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780467934.94428611 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 3.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 4.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.23sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 4.23sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 6.43sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal

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

1 fail1 pass

! error	—	reset_mujoco_sim.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
✓ passed	—	reset_mujoco_sim.xml	0.6s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal

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

1 fail5 skip

! error	—	interactive_marker_visualization_example.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
− skipped	—	visualize_tf.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	interactive_marker_visualization.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	interactive_marker_visualization.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	interactive_marker_visualization_example.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	visualize_tf.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal

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

31 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	15947 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780468103.84205508 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780468104.40212703 seconds. ×2 + 0.56sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X___X] + 0.71sINFOros2_control_node[2026-06-03 06:28:24.555] [info] Received new action goal + 0.71sINFOros2_control_node[2026-06-03 06:28:24.555] [info] Accepted new action goal + 1.98sINFOobjective_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 + 1.99sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 4.34sINFOjoint_trajectory_controllerReceived new action goal ×3911 + 4.34sINFOjoint_trajectory_controllerAccepted new action goal ×3911 + 4.34sINFOros2_control_nodeReceived new action goal[0m ×3911 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×3911 + 9.05sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.15sINFOjoint_trajectory_controllerGoal reached, success! ×128 + 9.15sINFOros2_control_nodeGoal reached, success![0m ×128 + 17.53sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 3:10.005 of wall time (93/58709). Below 1% is expected on a non-realtime system.[0m + 44.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780468148.23760390 seconds ×2 + 44.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780468148.82637811 seconds. ×2 + 45.04sINFOobjective_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 + 45.12sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 45.13sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 45.14sINFOros2_control_node[2026-06-03 06:29:08.980] [info] Received new action goal + 45.14sINFOros2_control_node[2026-06-03 06:29:08.980] [info] Accepted new action goal
✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.7s	125 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780468046.85841870 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423176467 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423205489 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903505658 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903537770 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.004874720 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007773064 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007799126 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.97sINFOobjective_server_node[0;93m2026-06-03 06:27:28.303004314 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320802790 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320836153 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780468049.23739767 seconds ×2 + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780468049.96619821 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.46sINFOobjective_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 + 4.47sINFOobjective_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 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 4.73sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Received new action goal + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Accepted new action goal + 7.60sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.61sINFOros2_control_node[2026-06-03 06:27:33.950] [info] Received new action goal + 7.61sINFOros2_control_node[2026-06-03 06:27:33.950] [info] Accepted new action goal + 10.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.80sINFOros2_control_node[2026-06-03 06:27:37.132] [info] Received new action goal + 10.80sINFOros2_control_node[2026-06-03 06:27:37.132] [info] Accepted new action goal + 13.75sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 13.75sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.79sINFOros2_control_node[2026-06-03 06:27:40.121] [info] Received new action goal + 13.79sINFOros2_control_node[2026-06-03 06:27:40.121] [info] Accepted new action goal + 15.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 2:10.003 of wall time (41/40220). Below 1% is expected on a non-realtime system.[0m + 16.74sINFOobjective_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 + 23.49sINFOobjective_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 + 24.47sINFOros2_control_node[2026-06-03 06:27:50.809] [info] Received new action goal + 24.47sINFOros2_control_node[2026-06-03 06:27:50.809] [info] Accepted new action goal + 25.67sINFOobjective_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 + 25.68sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×2 + 25.94sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.97sINFOros2_control_node[2026-06-03 06:27:52.301] [info] Received new action goal + 25.97sINFOros2_control_node[2026-06-03 06:27:52.301] [info] Accepted new action goal + 28.10sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 28.10sINFOobjective_server_nodePath shortcutter: [X__________X] + 28.10sINFOros2_control_node[2026-06-03 06:27:54.440] [info] Received new action goal + 28.10sINFOros2_control_node[2026-06-03 06:27:54.440] [info] Accepted new action goal + 31.18sINFOros2_control_node[2026-06-03 06:27:57.519] [info] Received new action goal + 31.18sINFOros2_control_node[2026-06-03 06:27:57.519] [info] Accepted new action goal + 33.77sINFOobjective_server_nodeFound path in 0 iterations (9.6e-07 s). + 33.77sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.80sINFOros2_control_node[2026-06-03 06:28:00.132] [info] Received new action goal + 33.80sINFOros2_control_node[2026-06-03 06:28:00.132] [info] Accepted new action goal + 44.61sINFOros2_control_node[2026-06-03 06:28:10.949] [info] Received new action goal + 44.61sINFOros2_control_node[2026-06-03 06:28:10.949] [info] Accepted new action goal + 45.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780468092.10636425 seconds ×2 + 46.46sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.46sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 46.47sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780468092.81186604 seconds. ×2 + 47.72sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 47.73sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.74sINFOros2_control_node[2026-06-03 06:28:14.075] [info] Received new action goal + 47.74sINFOros2_control_node[2026-06-03 06:28:14.075] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	39.5s	2 errors · 80 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Accepted new action goal + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Got request to cancel active goal. + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Canceling active goal... + 0.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780467949.42017698 seconds ×2 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780467949.96617889 seconds. ×2 + 1.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780467950.09630060 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780467950.72129011 seconds. ×2 + 2.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Accepted new action goal + 33.15sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 33.15sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 33.66sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 33.66sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 34.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 34.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 34.91sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 35.18sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 35.18sINFOobjective_server_nodePath shortcutter: [X___________X] + 35.18sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 35.18sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 35.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 35.21sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 35.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 35.26sINFOobjective_server_nodeFound path in 1 iterations (0.00273545 s). + 35.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 35.40sINFOros2_control_node[2026-06-03 06:26:24.041] [info] Received new action goal + 35.40sINFOros2_control_node[2026-06-03 06:26:24.041] [info] Accepted new action goal + 37.92sINFOros2_control_node[2026-06-03 06:26:26.563] [info] Received new action goal + 37.92sINFOros2_control_node[2026-06-03 06:26:26.563] [info] Accepted new action goal + 39.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 39.68sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Received new action goal + 39.68sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Accepted new action goal + 41.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780467989.71143436 seconds ×2 + 41.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780467990.28813696 seconds. ×2 + 41.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780467990.38826728 seconds ×2 + 41.76sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 41.76sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 42.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780467990.99197340 seconds. ×2 + 42.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 42.44sINFOobjective_server_nodePath shortcutter: [X_____________X] + 42.45sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Received new action goal + 42.45sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Accepted new action goal + 42.76sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 42.76sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	36.9s	26 errors · 5465 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1204 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1191 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1204 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1191 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×314 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×314 + 1.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468171.288094) + 1.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468171.288094)[0m + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780468173.00447631 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.058094) + 3.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.058094)[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.078094) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.078094)[0m + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780468173.59471989 seconds. ×2 + 3.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.80sINFOros2_control_node[2026-06-03 06:29:33.775] [info] Received new action goal + 3.80sINFOros2_control_node[2026-06-03 06:29:33.775] [info] Accepted new action goal + 4.11sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 4.11sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m + 9.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.99sINFOros2_control_node[2026-06-03 06:29:39.959] [info] Received new action goal + 9.99sINFOros2_control_node[2026-06-03 06:29:39.959] [info] Accepted new action goal + 11.40sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 4:10.006 of wall time (159/77115). Below 1% is expected on a non-realtime system.[0m + 13.87sINFOros2_control_node[2026-06-03 06:29:43.842] [info] Received new action goal + 13.87sINFOros2_control_node[2026-06-03 06:29:43.842] [info] Accepted new action goal + 19.75sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 19.75sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 19.88sINFOobjective_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 + 19.93sINFOobjective_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 + 20.25sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 20.26sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 24.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468194.372250) + 24.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468194.372250)[0m + 27.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468197.922250) + 27.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468197.922250)[0m + 29.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468199.122249) + 29.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468199.122249)[0m + 30.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468200.322249) ×2 + 30.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468200.322249)[0m ×2 + 30.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468200.872250) + 30.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468200.872250)[0m + 39.93sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780468209.90735507 seconds ×2 + 40.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.982249) + 40.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.982249)[0m + 40.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.992249) + 40.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468210.002249) ×2 + 40.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.992249)[0m + 40.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468210.002249)[0m ×2 + 40.55sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780468210.52083707 seconds. ×2 + 40.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 40.55sINFOros2_control_nodeReceived & accepted new action goal[0m + 40.99sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 40.99sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 41.64sINFOobjective_server_nodeFound path in 6 iterations (0.00510643 s). + 41.70sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 41.71sINFOros2_control_node[2026-06-03 06:30:11.682] [info] Received new action goal + 41.71sINFOros2_control_node[2026-06-03 06:30:11.682] [info] Accepted new action goal
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	30.4s	8 errors · 844 info
+ 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×166 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×170 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×166 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×169 + 0.06sINFOjoint_trajectory_controllerGoal reached, success! ×35 + 0.06sINFOros2_control_nodeGoal reached, success![0m ×35 + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780468209.90735507 seconds ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.982249) + 3.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.982249)[0m + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.992249) + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468210.002249) ×2 + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.992249)[0m + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468210.002249)[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780468210.52083707 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.09sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.09sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.67sINFOobjective_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 + 4.75sINFOobjective_server_nodeFound path in 6 iterations (0.00510643 s). + 4.80sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.81sINFOros2_control_node[2026-06-03 06:30:11.682] [info] Received new action goal + 4.81sINFOros2_control_node[2026-06-03 06:30:11.682] [info] Accepted new action goal + 14.19sINFOobjective_server_node[0;m[0;93m2026-06-03 06:30:21.063153817 [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 + 14.19sINFOobjective_server_node[0;93m2026-06-03 06:30:21.063179549 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.66sINFOobjective_server_node[0;93m2026-06-03 06:30:21.533019663 [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 + 14.66sINFOobjective_server_node[0;93m2026-06-03 06:30:21.533049215 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.76sINFOobjective_server_node[0;93m2026-06-03 06:30:21.634083092 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 14.76sINFOobjective_server_node[0;93m2026-06-03 06:30:21.636801303 [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 + 14.76sINFOobjective_server_node[0;93m2026-06-03 06:30:21.636821884 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.07sINFOobjective_server_node[0;93m2026-06-03 06:30:21.938834192 [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 + 15.08sINFOobjective_server_node[0;93m2026-06-03 06:30:21.951557655 [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 + 15.08sINFOobjective_server_node[0;93m2026-06-03 06:30:21.951586288 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.19sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization" + 16.19sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization"[0m + 16.62sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 18.88sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 19.21sINFOobjective_server_nodeFound path in 4 iterations (0.00213045 s). + 19.21sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 19.21sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m + 19.26sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 19.28sINFOobjective_server_nodeFound path in 12 iterations (0.00338864 s). + 19.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 19.36sINFOobjective_server_nodeFound path in 1 iterations (0.0016781 s). + 19.39sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] + 19.41sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×3 + 19.43sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 19.45sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 19.47sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 19.49sINFOobjective_server_nodeFound path in 12 iterations (0.0052156 s). + 19.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 19.55sINFOobjective_server_nodeFound path in 1 iterations (0.00310457 s). + 19.58sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] + 19.60sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 19.63sINFOobjective_server_nodePath shortcutter: [X_______________________________________X] + 19.65sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 19.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 19.69sINFOobjective_server_nodeFound path in 4 iterations (0.00475043 s). + 19.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 19.77sINFOobjective_server_nodeFound path in 4 iterations (0.00297817 s). + 19.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] + 19.86sINFOobjective_server_nodeFound path in 1 iterations (0.00348984 s). + 19.89sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 19.92sINFOobjective_server_nodeFound path in 1 iterations (0.00278442 s). + 19.97sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 20.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 20.10sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] + 20.13sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 20.19sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] + 20.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 20.23sINFOros2_control_node[2026-06-03 06:30:27.097] [info] Received new action goal + 20.23sINFOros2_control_node[2026-06-03 06:30:27.097] [info] Accepted new action goal + 25.23sINFOros2_control_node[2026-06-03 06:30:32.099] [info] Received new action goal + 25.23sINFOros2_control_node[2026-06-03 06:30:32.099] [info] Accepted new action goal + 26.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 26.90sINFOros2_control_node[2026-06-03 06:30:33.774] [info] Received new action goal + 26.90sINFOros2_control_node[2026-06-03 06:30:33.774] [info] Accepted new action goal + 28.11sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 28.15sINFOros2_control_node[2026-06-03 06:30:35.025] [info] Received new action goal + 28.15sINFOros2_control_node[2026-06-03 06:30:35.025] [info] Accepted new action goal + 33.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780468240.30187798 seconds ×2 + 34.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780468241.01679063 seconds. ×2 + 34.32sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 34.32sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 34.32sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 34.32sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 34.32sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 34.32sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 34.38sINFOobjective_server_nodePath shortcutter: [X______X] + 34.39sINFOros2_control_node[2026-06-03 06:30:41.260] [info] Received new action goal + 34.39sINFOros2_control_node[2026-06-03 06:30:41.260] [info] Accepted new action goal + 34.50sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.006 of wall time (195/95524). Below 1% is expected on a non-realtime system.[0m
✓ 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	72 errors · 7093 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1563 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1527 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1563 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1527 + 0.34sINFOjoint_trajectory_controllerGoal reached, success! ×441 + 0.35sINFOros2_control_nodeGoal reached, success![0m ×441 + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780468148.23760390 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780468148.82637811 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 3.78sINFOros2_control_node[2026-06-03 06:29:08.980] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-03 06:29:08.980] [info] Accepted new action goal + 7.71sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 7.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 10.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468155.278094) + 10.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468155.278094)[0m + 10.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468155.968094) + 10.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468155.968094)[0m + 11.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468156.498094) + 11.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468156.498094)[0m + 11.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468156.518094) ×2 + 11.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468156.518094)[0m ×2 + 11.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468156.528094) + 11.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468156.528094)[0m + 11.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468157.178094) ×2 + 11.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468157.178094)[0m ×2 + 11.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468157.188094) + 11.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468157.188094)[0m + 12.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468157.718094) ×2 + 12.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468157.718094)[0m ×2 + 12.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468157.738094) ×2 + 12.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468157.738094)[0m ×2 + 13.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468158.408094) + 13.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468158.408094)[0m + 13.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468158.418094) + 13.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468158.428094) + 13.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468158.418094)[0m + 13.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468158.428094)[0m + 13.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468158.918094) + 13.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468158.918094)[0m + 13.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468158.948094) + 13.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468158.948094)[0m + 14.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468159.588094) + 14.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468159.588094)[0m + 14.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468159.608094) + 14.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468159.608094)[0m + 14.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468160.108094) + 14.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468160.108094)[0m + 15.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468160.788094) ×2 + 15.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468160.788094)[0m ×2 + 16.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468161.308094) + 16.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468161.308094)[0m + 16.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468161.318094) + 16.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468161.318094)[0m + 16.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468161.968094) ×2 + 16.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468161.968094)[0m ×2 + 17.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468162.498094) + 17.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468162.508094) + 17.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468162.498094)[0m + 17.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468162.508094)[0m + 17.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468162.518094) + 17.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468162.518094)[0m + 17.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468162.528094) + 17.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468162.528094)[0m + 19.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468165.048094) + 19.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468165.048094)[0m + 19.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468165.068094) + 19.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468165.068094)[0m + 26.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468171.288094) + 26.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468171.288094)[0m + 27.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780468173.00447631 seconds ×2 + 27.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.058094) + 27.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.058094)[0m + 27.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.078094) + 27.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.078094)[0m + 28.39sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780468173.59471989 seconds. ×2 + 28.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 28.55sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 28.57sINFOros2_control_node[2026-06-03 06:29:33.775] [info] Received new action goal + 28.57sINFOros2_control_node[2026-06-03 06:29:33.775] [info] Accepted new action goal + 28.88sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 28.88sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.7s	26 errors · 3 warnings · 152 info
+ 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780468295.51993728 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780468296.14248824 seconds. ×2 + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780468297.52261782 seconds ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780468298.06371188 seconds. ×2 + 2.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.55sINFOobjective_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 + 2.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780468298.06493998 seconds ×2 + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780468298.60681844 seconds. ×2 + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780468298.60719800 seconds ×2 + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780468299.15568757 seconds. ×2 + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 6:10.010 of wall time (214/113946). Below 1% is expected on a non-realtime system.[0m + 6.70sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 6.70sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 6.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780468302.31581187 seconds ×2 + 6.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 7.20sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 7.51sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 12.52sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.52sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.52sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.52sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.52sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.52sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.52sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.52sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.52sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.52sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.53sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.53sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.53sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 12.53sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 12.53sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 12.54sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 12.55sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 12.55sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 12.56sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 12.56sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 12.57sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 12.58sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 12.58sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 12.59sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 12.60sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 12.61sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 12.61sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 12.61sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 12.61sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 12.61sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 12.61sERRORui_teleop_bridgeTraceback (most recent call last): + 12.61sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 12.61sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 12.61sINFOui_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 + 12.61sINFOui_teleop_bridgerclpy.shutdown() + 12.61sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 12.61sINFOui_teleop_bridge_shutdown(context=context) + 12.61sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 12.61sINFOui_teleop_bridgereturn context.shutdown() + 12.61sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 12.61sINFOui_teleop_bridgeself.__context.shutdown() + 12.61sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 12.61sWARNparameter_manager_nodeROS node was shutdown. + 12.62sINFOcontroller_managerShutdown request received.... + 12.62sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.62sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.62sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.62sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.62sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.62sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.62sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.62sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 12.62sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 12.62sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.62sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 12.62sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 12.62sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 12.62sINFOcontroller_managerShutting down the controller manager. + 12.62sINFOros2_control_nodeShutdown request received....[0m + 12.62sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 12.62sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 12.62sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 12.62sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 12.62sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 12.62sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 12.62sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 12.62sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 12.62sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 12.62sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 12.62sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 12.62sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 12.62sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 12.62sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 12.62sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 12.62sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 12.62sINFOros2_control_nodeShutting down the controller manager.[0m + 12.70sINFOobjective_server_node[0;m[2026-06-03 06:31:48.219] [moveit_pro_license] [info] + 12.70sINFOobjective_server_node************************************************* ×2 + 12.70sINFOobjective_server_node* MoveIt Pro License + 12.70sINFOobjective_server_node* Application has successfully terminated + 12.75sINFOfoxglove_bridgeShutdown complete[0m + 12.75sINFOtf2_web_republisher_node-19process has finished cleanly [pid 25203] + 12.75sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 12.75sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 12.76sINFOweb_video_server-20process has finished cleanly [pid 25205] + 12.78sINFOobjective_server_nodecorrupted double-linked list + 12.78sERRORobjective_server_nodeStack trace (most recent call last) in thread 25591: + 12.79sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 25191] + 12.79sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 12.79sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb53662a83, in __clone + 12.79sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb535d1ac2, in + 12.79sINFOobjective_server_node#12 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7feb2dd6521b, in + 12.79sINFOobjective_server_node#11 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7feb2dd19674, in + 12.79sINFOobjective_server_node#10 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7feb2dd08339, in + 12.79sINFOobjective_server_node#9 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7feb2dcf8ede, in + 12.79sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb535e2452, in free + 12.79sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb535dfe9f, in + 12.79sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb535de968, in + 12.79sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb535de7cb, in + 12.79sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb535ddcfb, in + 12.79sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb535c6676, in + 12.79sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb535657f2, in abort + 12.79sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb5357f475, in raise + 12.79sERRORui_teleop_bridge-17process has died [pid 25199, 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_c81atln3']. + 12.79sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feb535d39fc, in pthread_kill + 12.79sERRORobjective_server_nodeAborted (Signal sent by tkill() 25193 0) + 12.79sINFOmove_joint_resampler_node-12process has finished cleanly [pid 25189] + 12.82sINFOwaypoint_manager_node-11process has finished cleanly [pid 25187] + 12.83sINFOexecute_objective_bridge-16process has finished cleanly [pid 25197] + 13.36sERRORobjective_server_node_main-14process has died [pid 25193, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_2a2vkizz --params-file /tmp/launch_params_yxgxd8y6 --params-file /tmp/launch_params_qna1cbu2 --params-file /tmp/launch_params_m6vnfs3s --params-file /tmp/launch_params_zvqimkyf --params-file /tmp/launch_params_5lhrayzg']. + 13.36sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 13.66sINFOparameter_manager_node-10process has finished cleanly [pid 25149] + 13.78sINFOcomponent_container_mt-15process has finished cleanly [pid 25195] + 13.92sINFOmove_group-9process has finished cleanly [pid 25145] + 14.35sERRORros2_control_nodeStack trace (most recent call last): + 14.36sINFOros2_control_node#11 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 14.36sINFOros2_control_node#10 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55fe06190ec4, in + 14.36sINFOros2_control_node#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe8cc13ae3f, in __libc_start_main + 14.36sINFOros2_control_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe8cc13ad8f, in + 14.36sINFOros2_control_node#7 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55fe0619072e, in + 14.36sINFOros2_control_node#6 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55fe061911b3, in + 14.36sINFOros2_control_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe8cc6a85a7, in rclcpp::Executor::~Executor() + 14.36sINFOros2_control_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe8cc697d39, in + 14.36sINFOros2_control_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe8cc6b5543, in + 14.36sINFOros2_control_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe8cc748c54, in + 14.36sINFOros2_control_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe8cc748ad8, in + 14.36sINFOros2_control_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fe8cc697d37, in + 14.36sERRORros2_control_nodeSegmentation fault (Address not mapped to object [0x7fe85a2815b0]) + 14.53sERRORros2_control_node-1process has died [pid 25126, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_ztrpuq5o --params-file /tmp/launch_params_dpufojvo --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__j2o0cdy --params-file /tmp/launch_params_qe22mh93']. + 14.68sINFOfoxglove_bridge-18process has finished cleanly [pid 25201] + 14.68sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system
✓ passed	Push Button	move_with_velocity_and_force.xml	11.7s	51 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.09sINFOros2_control_node[2026-06-03 06:28:10.949] [info] Received new action goal + 1.09sINFOros2_control_node[2026-06-03 06:28:10.949] [info] Accepted new action goal + 2.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780468092.10636425 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.93sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.93sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.95sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780468092.81186604 seconds. ×2 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 4.20sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.21sINFOros2_control_node[2026-06-03 06:28:14.075] [info] Received new action goal + 4.21sINFOros2_control_node[2026-06-03 06:28:14.075] [info] Accepted new action goal + 7.91sINFOobjective_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 + 10.36sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 10.36sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.37sINFOros2_control_node[2026-06-03 06:28:20.235] [info] Received new action goal + 10.37sINFOros2_control_node[2026-06-03 06:28:20.235] [info] Accepted new action goal + 13.98sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780468103.84205508 seconds ×2 + 14.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780468104.40212703 seconds. ×2 + 14.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.54sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 14.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 14.69sINFOobjective_server_nodePath shortcutter: [X___X] + 14.69sINFOros2_control_node[2026-06-03 06:28:24.555] [info] Received new action goal + 14.69sINFOros2_control_node[2026-06-03 06:28:24.555] [info] Accepted new action goal + 15.96sINFOobjective_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 + 15.97sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'.
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.7s	2 errors · 71 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00286197 s). + 0.13sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.16sINFOros2_control_node[2026-06-03 06:27:01.401] [info] Received new action goal + 0.16sINFOros2_control_node[2026-06-03 06:27:01.401] [info] Accepted new action goal + 0.60sINFOros2_control_node[2026-06-03 06:27:01.843] [info] Received new action goal + 0.60sINFOros2_control_node[2026-06-03 06:27:01.843] [info] Accepted new action goal + 1.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.99sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.26sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.26sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.26sINFOros2_control_nodeGot request to cancel goal[0m + 2.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 2.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780468023.53110957 seconds ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780468024.13628578 seconds. ×2 + 2.93sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.93sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.93sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.93sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.06sINFOros2_control_node[2026-06-03 06:27:04.299] [info] Received new action goal + 3.06sINFOros2_control_node[2026-06-03 06:27:04.299] [info] Accepted new action goal + 5.39sINFOros2_control_node[2026-06-03 06:27:06.632] [info] Received new action goal + 5.39sINFOros2_control_node[2026-06-03 06:27:06.633] [info] Accepted new action goal + 13.96sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780468035.20281863 seconds ×2 + 14.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780468035.81494260 seconds. ×2 + 14.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780468035.87506723 seconds ×2 + 15.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780468036.41774917 seconds. ×2 + 15.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.27sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Received new action goal + 15.27sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Accepted new action goal + 17.28sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780468038.51787663 seconds ×2 + 17.84sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780468039.08081174 seconds. ×2 + 17.95sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 17.95sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Received new action goal + 17.95sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Accepted new action goal + 18.04sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 18.04sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.1s	6 errors · 2 warnings · 86 info
+ 0.00sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×2 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×2 + 0.28sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×2 + 0.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1780468011.72648239 seconds ×2 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.96sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780468012.95685124 seconds. ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 1.63sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.63sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.63sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.63sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). + 1.70sINFOobjective_server_nodePath shortcutter: [X______X] + 1.70sINFOros2_control_node[2026-06-03 06:26:53.140] [info] Received new action goal + 1.70sINFOros2_control_node[2026-06-03 06:26:53.140] [info] Accepted new action goal + 4.64sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures" + 4.64sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures"[0m + 5.15sINFOfoxglove_bridgeRemoving channel 63 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.15sINFOfoxglove_bridgeRemoving channel 63 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 6.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.55sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 6.66sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 6.66sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 6.81sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________X] + 6.82sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×3 + 6.82sINFOobjective_server_nodePath shortcutter: [X________________X] + 6.83sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 6.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 6.91sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). + 6.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 6.95sINFOobjective_server_nodeFound path in 1 iterations (0.00257713 s). + 7.03sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 7.05sINFOobjective_server_nodeFound path in 1 iterations (0.00284473 s). + 7.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 7.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 7.24sINFOros2_control_node[2026-06-03 06:26:58.675] [info] Received new action goal + 7.24sINFOros2_control_node[2026-06-03 06:26:58.675] [info] Accepted new action goal + 9.80sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). + 9.80sINFOobjective_server_nodePath shortcutter: [X_X] + 9.81sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 9.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 9.86sINFOobjective_server_nodeFound path in 1 iterations (0.00286197 s). + 9.93sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 9.96sINFOros2_control_node[2026-06-03 06:27:01.401] [info] Received new action goal + 9.96sINFOros2_control_node[2026-06-03 06:27:01.401] [info] Accepted new action goal + 10.41sINFOros2_control_node[2026-06-03 06:27:01.843] [info] Received new action goal + 10.41sINFOros2_control_node[2026-06-03 06:27:01.843] [info] Accepted new action goal + 12.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 12.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 12.06sINFOros2_control_nodeGot request to cancel goal[0m + 12.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 12.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780468023.53110957 seconds ×2 + 12.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780468024.13628578 seconds. ×2 + 12.73sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.73sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.73sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.73sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.85sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 12.86sINFOros2_control_node[2026-06-03 06:27:04.299] [info] Received new action goal + 12.86sINFOros2_control_node[2026-06-03 06:27:04.299] [info] Accepted new action goal + 15.20sINFOros2_control_node[2026-06-03 06:27:06.632] [info] Received new action goal + 15.20sINFOros2_control_node[2026-06-03 06:27:06.633] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.1s	2 errors · 69 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780468240.30187798 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780468241.01679063 seconds. ×2 + 1.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.80sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.80sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.80sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 1.80sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.80sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.80sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 1.85sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.85sINFOobjective_server_nodePath shortcutter: [X______X] + 1.87sINFOros2_control_node[2026-06-03 06:30:41.260] [info] Received new action goal + 1.87sINFOros2_control_node[2026-06-03 06:30:41.260] [info] Accepted new action goal + 1.98sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.006 of wall time (195/95524). Below 1% is expected on a non-realtime system.[0m + 6.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 7.16sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 7.17sINFOobjective_server_nodePath shortcutter: [X___________X] + 7.17sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). + 7.17sINFOobjective_server_nodePath shortcutter: [X_________________X] + 7.18sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 7.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 7.22sINFOobjective_server_nodeFound path in 1 iterations (0.00202921 s). + 7.28sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 7.30sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 7.32sINFOros2_control_node[2026-06-03 06:30:46.713] [info] Received new action goal + 7.32sINFOros2_control_node[2026-06-03 06:30:46.713] [info] Accepted new action goal + 7.35sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 7.35sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 9.84sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 9.84sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 11.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 11.61sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 11.61sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 12.02sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 12.02sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 12.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 12.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 12.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 12.81sINFOobjective_server_nodePath shortcutter: [X________X] + 12.81sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 12.81sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 12.92sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.92sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	11.0s	2 errors · 67 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[2026-06-03 06:26:28.324] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780467989.71143436 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780467990.28813696 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780467990.38826728 seconds ×2 + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780467990.99197340 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Accepted new action goal + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Accepted new action goal + 8.81sINFOros2_control_node[2026-06-03 06:26:36.761] [info] Received new action goal + 8.81sINFOros2_control_node[2026-06-03 06:26:36.761] [info] Accepted new action goal + 11.12sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 11.13sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 11.13sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 13.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 13.45sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 13.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 14.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 14.52sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 14.52sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 14.52sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 14.52sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 15.18sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 15.18sINFOobjective_server_nodePath shortcutter: [X______X] + 15.19sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 15.19sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.9s	2 errors · 80 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 0.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 1.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 1.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 1.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 1.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 2.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 2.64sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 2.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.65sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 2.65sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 4.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 4.85sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 5.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.19sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 5.19sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). + 8.91sINFOros2_control_node[2026-06-03 06:25:45.427] [info] Received new action goal + 8.91sINFOros2_control_node[2026-06-03 06:25:45.427] [info] Accepted new action goal + 12.21sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 12.21sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.23sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Received new action goal + 12.23sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Accepted new action goal + 12.87sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Got request to cancel active goal. + 12.87sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Canceling active goal... + 12.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780467949.42017698 seconds ×2 + 13.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780467949.96617889 seconds. ×2 + 13.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780467950.09630060 seconds ×2 + 14.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780467950.72129011 seconds. ×2 + 14.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.34sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 15.34sINFOobjective_server_nodePath shortcutter: [X______X] + 15.34sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Received new action goal + 15.34sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Accepted new action goal
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	4 errors · 38 info
+ 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.96sINFOobjective_server_nodePath shortcutter: [X________X] + 2.97sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 13.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780468262.41303849 seconds ×2 + 13.72sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780468262.95644546 seconds. ×2 + 13.92sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 13.93sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.94sINFOros2_control_node[2026-06-03 06:31:03.175] [info] Received new action goal + 13.94sINFOros2_control_node[2026-06-03 06:31:03.175] [info] Accepted new action goal + 14.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	6 errors · 2 warnings · 75 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal + 9.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.42sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 9.51sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution" + 9.51sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 9.58sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 9.58sINFOobjective_server_nodePath shortcutter: [X__________X] + 9.58sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 9.58sINFOobjective_server_nodePath shortcutter: [X________________X] + 9.58sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). + 9.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 9.61sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 9.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 9.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 9.69sINFOobjective_server_nodeFound path in 1 iterations (0.00187485 s). + 9.75sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 9.78sINFOobjective_server_nodeFound path in 1 iterations (0.00289524 s). + 9.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 9.86sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 9.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 9.95sINFOros2_control_node[2026-06-03 06:26:48.959] [info] Received new action goal + 9.95sINFOros2_control_node[2026-06-03 06:26:48.959] [info] Accepted new action goal + 12.43sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×2 + 12.70sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.70sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 12.71sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×2 + 12.71sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×2 + 12.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1780468011.72648239 seconds ×2 + 13.95sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780468012.95685124 seconds. ×2 + 14.06sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.06sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.06sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.06sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.13sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). + 14.13sINFOros2_control_node[2026-06-03 06:26:53.140] [info] Received new action goal + 14.13sINFOros2_control_node[2026-06-03 06:26:53.140] [info] Accepted new action goal + 17.07sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures" + 17.07sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/pcd_pointcloud_captures"[0m
✓ passed	Stationary Admittance	stationary_admittance.xml	10.8s	4 errors · 2 warnings · 72 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780468283.41984391 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780468284.05806422 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780468284.13820601 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780468284.69357419 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: 1780468284.71550941 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780468285.26533794 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Accepted new action goal + 5.25sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.25sINFOros2_control_node[2026-06-03 06:31:28.668] [info] Received new action goal + 5.25sINFOros2_control_node[2026-06-03 06:31:28.668] [info] Accepted new action goal + 5.25sINFOros2_control_node[2026-06-03 06:31:28.668] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.10sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Got request to cancel active goal. + 12.10sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Canceling active goal... + 12.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780468295.51993728 seconds ×2 + 12.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780468296.14248824 seconds. ×2 + 12.75sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 12.75sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 14.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780468297.52261782 seconds ×2 + 14.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780468298.06371188 seconds. ×2 + 14.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.64sINFOobjective_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 + 14.65sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.65sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780468298.06493998 seconds ×2 + 14.76sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.76sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 14.76sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.76sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 15.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780468298.60681844 seconds. ×2 + 15.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780468298.60719800 seconds ×2 + 15.27sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 15.27sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780468299.15568757 seconds. ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	10.7s	2 errors · 47 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780468272.77660775 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.55sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780468273.32963920 seconds. ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.65sINFOobjective_server_nodePath shortcutter: [X________X] + 0.66sINFOros2_control_node[2026-06-03 06:31:13.436] [info] Received new action goal + 0.66sINFOros2_control_node[2026-06-03 06:31:13.436] [info] Accepted new action goal + 0.70sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.70sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780468283.41984391 seconds ×2 + 11.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780468284.05806422 seconds. ×2 + 11.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780468284.13820601 seconds ×2 + 11.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780468284.69357419 seconds. ×2 + 11.94sINFOobjective_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 + 11.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780468284.71550941 seconds ×2 + 12.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780468285.26533794 seconds. ×2 + 12.57sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 12.58sINFOobjective_server_nodePath shortcutter: [X___X] + 12.59sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Received new action goal + 12.59sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Accepted new action goal
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	2 errors · 30 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780468262.41303849 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780468262.95644546 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.76sINFOros2_control_node[2026-06-03 06:31:03.175] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-03 06:31:03.175] [info] Accepted new action goal + 0.98sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.98sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.77sINFOros2_control_node[2026-06-03 06:31:07.180] [info] Received new action goal + 4.77sINFOros2_control_node[2026-06-03 06:31:07.180] [info] Accepted new action goal + 10.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780468272.77660775 seconds ×2 + 10.92sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780468273.32963920 seconds. ×2 + 11.01sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 11.01sINFOobjective_server_nodePath shortcutter: [X________X] + 11.02sINFOros2_control_node[2026-06-03 06:31:13.436] [info] Received new action goal + 11.02sINFOros2_control_node[2026-06-03 06:31:13.436] [info] Accepted new action goal + 11.06sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.06sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 12.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	7.8s	73 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780468035.81494260 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780468035.87506723 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.60sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780468036.41774917 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.70sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Accepted new action goal + 2.70sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780468038.51787663 seconds ×2 + 3.27sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780468039.08081174 seconds. ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.38sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Accepted new action goal + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 8.16sINFOobjective_server_node[0;93m2026-06-03 06:27:23.975838944 [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 + 8.16sINFOobjective_server_node[0;93m2026-06-03 06:27:23.975867177 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.69sINFOobjective_server_node[0;93m2026-06-03 06:27:24.506595062 [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 + 8.69sINFOobjective_server_node[0;93m2026-06-03 06:27:24.506628735 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.81sINFOobjective_server_node[0;93m2026-06-03 06:27:24.622610475 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 8.81sINFOobjective_server_node[0;93m2026-06-03 06:27:24.624576437 [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 + 8.81sINFOobjective_server_node[0;93m2026-06-03 06:27:24.624593799 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.09sINFOobjective_server_node[0;93m2026-06-03 06:27:24.907095276 [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 + 9.11sINFOobjective_server_node[0;93m2026-06-03 06:27:24.925253139 [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 + 9.11sINFOobjective_server_node[0;93m2026-06-03 06:27:24.925293652 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.46sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780468046.27339053 seconds ×2 + 10.52sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 10.52sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 11.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780468046.85841870 seconds. ×2 + 11.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.53sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 11.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.61sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423176467 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.61sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423205489 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903505658 [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 + 12.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903537770 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.19sINFOobjective_server_node[0;93m2026-06-03 06:27:28.004874720 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.19sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007773064 [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 + 12.19sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007799126 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.49sINFOobjective_server_node[0;93m2026-06-03 06:27:28.303004314 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.51sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320802790 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.51sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320836153 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.42sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780468049.23739767 seconds ×2 + 13.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 13.54sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 14.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780468049.96619821 seconds. ×2 + 14.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.15sINFOros2_control_nodeReceived & accepted new action goal[0m
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	3.0s	56 info
+ 0.00sINFOobjective_server_node[0;93m2026-06-03 06:27:23.975838944 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.00sINFOobjective_server_node[0;93m2026-06-03 06:27:23.975867177 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.53sINFOobjective_server_node[0;93m2026-06-03 06:27:24.506595062 [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 + 0.53sINFOobjective_server_node[0;93m2026-06-03 06:27:24.506628735 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.65sINFOobjective_server_node[0;93m2026-06-03 06:27:24.622610475 [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 + 0.65sINFOobjective_server_node[0;93m2026-06-03 06:27:24.624576437 [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 + 0.65sINFOobjective_server_node[0;93m2026-06-03 06:27:24.624593799 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.93sINFOobjective_server_node[0;93m2026-06-03 06:27:24.907095276 [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 + 0.95sINFOobjective_server_node[0;93m2026-06-03 06:27:24.925253139 [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 + 0.95sINFOobjective_server_node[0;93m2026-06-03 06:27:24.925293652 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780468046.27339053 seconds ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.88sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780468046.85841870 seconds. ×2 + 3.37sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.37sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.37sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.37sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.45sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423176467 [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 + 3.45sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423205489 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.93sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903505658 [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 + 3.93sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903537770 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.03sINFOobjective_server_node[0;93m2026-06-03 06:27:28.004874720 [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 + 4.03sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007773064 [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 + 4.03sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007799126 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.33sINFOobjective_server_node[0;93m2026-06-03 06:27:28.303004314 [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 + 4.35sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320802790 [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 + 4.35sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320836153 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780468049.23739767 seconds ×2 + 5.38sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 5.38sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 5.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780468049.96619821 seconds. ×2 + 5.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.99sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.38sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.38sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.82sINFOobjective_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 + 6.83sINFOobjective_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 + 6.89sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 6.89sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 7.09sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 7.10sINFOobjective_server_nodePath shortcutter: [X____________X] + 7.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 7.13sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Received new action goal + 7.13sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Accepted new action goal
✓ passed	Look at Table	look_at_table.xml	2.6s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780468035.20281863 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780468035.81494260 seconds. ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780468035.87506723 seconds ×2 + 1.21sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780468036.41774917 seconds. ×2 + 1.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.31sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Received new action goal + 1.31sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Accepted new action goal + 3.32sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780468038.51787663 seconds ×2 + 3.88sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780468039.08081174 seconds. ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.99sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Accepted new action goal + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.9s	2 errors · 2 warnings · 36 info
+ 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780468295.51993728 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780468296.14248824 seconds. ×2 + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780468297.52261782 seconds ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780468298.06371188 seconds. ×2 + 2.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.55sINFOobjective_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 + 2.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780468298.06493998 seconds ×2 + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780468298.60681844 seconds. ×2 + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780468298.60719800 seconds ×2 + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780468299.15568757 seconds. ×2
✓ passed	Close Gripper	close_gripper.xml	1.7s	37 errors · 12 warnings · 254 info
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.06sINFOobjective_server_node[2026-06-03 06:25:31.081] [moveit_pro_license] [info] + 0.06sINFOobjective_server_node************************************************* ×2 + 0.06sINFOobjective_server_node* MoveIt Pro License + 0.06sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.32sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.32sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.32sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.32sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.32sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.32sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.33sINFOcontroller_managerupdate rate is 600 Hz + 0.33sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.33sWARNcontroller_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. + 0.33sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.33sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.33sWARNros2_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 + 0.34sINFOobjective_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. + 0.34sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.34sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 0.34sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector" + 0.35sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/failure_reason_collector"[0m + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description" + 0.35sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/description"[0m + 0.36sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.36sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.36sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.49sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.49sERRORcontroller_managerA controller named 'joint_velocity_controller' was already loaded inside the controller manager + 0.50sERRORros2_control_nodeA controller named 'joint_velocity_controller' was already loaded inside the controller manager[0m + 0.50sFATALspawner_joint_velocity_controller[91mFailed loading controller [1mjoint_velocity_controller[0m + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.50sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' ×2 + 0.51sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' ×2 + 0.53sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.55sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.56sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_joint_velocity_controller'. + 0.56sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_joint_velocity_controller'.[0m + 0.56sERRORcontroller_managerA controller named 'joint_state_broadcaster' was already loaded inside the controller manager + 0.56sERRORcontroller_managerA controller named 'force_torque_sensor_broadcaster' was already loaded inside the controller manager + 0.56sERRORros2_control_nodeA controller named 'joint_state_broadcaster' was already loaded inside the controller manager[0m + 0.56sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.56sERRORros2_control_nodeA controller named 'force_torque_sensor_broadcaster' was already loaded inside the controller manager[0m + 0.56sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.56sFATALspawner_joint_state_broadcaster[91mFailed loading controller [1mjoint_state_broadcaster[0m + 0.56sFATALspawner_force_torque_sensor_broadcaster[91mFailed loading controller [1mforce_torque_sensor_broadcaster[0m + 0.56sFATALspawner_arm_only_joint_velocity_controller[91mFailed loading controller [1marm_only_joint_velocity_controller[0m + 0.56sFATALros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[91mFailed loading controller [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.62sINFOobjective_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. + 0.62sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.64sINFOros2_control_node[2026-06-03 06:25:31.662] [info] Controller state will be published at 20 Hz. + 0.64sINFOros2_control_node[2026-06-03 06:25:31.663] [info] JointVelocityController 'on_configure' succeeded. + 0.64sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_velocity_force_controller'. + 0.64sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_velocity_force_controller'.[0m + 0.64sINFOcontroller_managerLoading controller 'joint_trajectory_controller' ×2 + 0.64sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.64sFATALspawner_arm_only_velocity_force_controller[91mFailed loading controller [1marm_only_velocity_force_controller[0m + 0.67sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.67sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.67sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.67sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.67sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.74sERRORcontroller_managerThe 'type' param was not defined for 'imu_sensor_broadcaster'. + 0.74sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.74sERRORros2_control_nodeThe 'type' param was not defined for 'imu_sensor_broadcaster'.[0m + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' ×2 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.74sFATALspawner_imu_sensor_broadcaster[91mFailed loading controller [1mimu_sensor_broadcaster[0m + 0.75sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 + 0.79sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 25128, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 0.81sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.81sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.83sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller'. + 0.83sERRORcontroller_managerA controller named 'velocity_force_controller' was already loaded inside the controller manager + 0.83sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller'.[0m + 0.83sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.83sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller_nav2'. + 0.83sERRORros2_control_nodeA controller named 'velocity_force_controller' was already loaded inside the controller manager[0m + 0.83sERRORcontroller_managerThe 'type' param was not defined for 'vacuum_gripper'. + 0.83sFATALspawner_velocity_force_controller[91mFailed loading controller [1mvelocity_force_controller[0m + 0.83sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller_nav2'.[0m + 0.83sERRORros2_control_nodeThe 'type' param was not defined for 'vacuum_gripper'.[0m + 0.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.83sFATALspawner_platform_velocity_controller_nav2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m + 0.83sERRORcontroller_managerA controller named 'joint_trajectory_controller' was already loaded inside the controller manager + 0.83sFATALspawner_platform_velocity_controller[91mFailed loading controller [1mplatform_velocity_controller[0m + 0.83sERRORros2_control_nodeA controller named 'joint_trajectory_controller' was already loaded inside the controller manager[0m + 0.83sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.83sFATALspawner_joint_trajectory_controller[91mFailed loading controller [1mjoint_trajectory_controller[0m + 0.83sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.83sFATALros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[91mFailed loading controller [1mjoint_trajectory_controller[0m + 0.83sFATALspawner_vacuum_gripper[91mFailed loading controller [1mvacuum_gripper[0m + 0.84sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.84sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.84sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.84sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.84sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.84sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.84sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.84sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.84sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.84sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.84sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.85sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.85sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.85sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.85sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.86sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.86sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.86sINFOros2_control_node[2026-06-03 06:25:31.887] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.86sINFOros2_control_node[2026-06-03 06:25:31.887] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.90sINFOros2_control_node[2026-06-03 06:25:31.927] [info] First order lag filter time constant set to: 0.2 seconds + 0.90sINFOros2_control_node[2026-06-03 06:25:31.928] [info] Controller state will be published at 50 Hz. + 0.91sINFOros2_control_node[2026-06-03 06:25:31.935] [info] Registered `FollowJointTrajectory` action server. + 0.91sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25142] + 0.95sINFOros2_control_node[2026-06-03 06:25:31.976] [info] Controller state will be published at 10 Hz. + 0.95sINFOros2_control_node[2026-06-03 06:25:31.977] [info] VelocityForceController 'on_configure' succeeded. + 0.95sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.96sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth" + 1.05sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/wrist_camera/depth"[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/camera_info" + 1.06sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/wrist_camera/camera_info"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers" + 1.06sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/visual_markers"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event" + 1.07sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/velocity_force_controller/transition_event"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/velocity_force_controller/command" + 1.07sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color" + 1.07sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/velocity_force_controller/command"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points" + 1.07sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/depth" + 1.07sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/color" + 1.07sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/scene_camera/points"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/depth"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/color"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/transient_monitored_planning_scene_without_octomap" + 1.08sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/joint_velocity_controller/controller_state" + 1.08sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_velocity_controller/command" + 1.08sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/joint_velocity_controller/controller_state"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_velocity_controller/command"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_trajectory_controller/transition_event"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_trajectory_controller/controller_state" + 1.08sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.08sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_state_broadcaster/transition_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/robotiq_gripper_controller/transition_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_trajectory_controller/controller_state"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_state_broadcaster/transition_event"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/robotiq_gripper_controller/transition_event"[0m + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[ros2run]: Process exited with failure 1 + 1.09sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/force_torque_sensor_broadcaster/wrench" + 1.09sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.09sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory" + 1.09sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.09sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.09sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/dynamic_joint_states" + 1.09sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/dynamic_joint_states"[0m + 1.09sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/transition_event"[0m + 1.10sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/velocity_force_controller/controller_state" + 1.10sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/blackboard_contents" + 1.10sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/velocity_force_controller/controller_state"[0m + 1.10sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/blackboard_contents"[0m + 1.10sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/behavior_tree_status" + 1.10sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/scene_camera/camera_info" + 1.10sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/wrist_camera/points" + 1.10sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 1.10sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/behavior_tree_status"[0m + 1.10sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/scene_camera/camera_info"[0m + 1.10sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/wrist_camera/points"[0m + 1.10sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 1.12sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has died [pid 25134, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller']. + 1.17sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.20sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.21sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 1.24sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.24sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.24sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.24sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25137] + 1.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25139] + 1.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25132] + 1.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25130] + 1.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.34sINFOmove_group ×2 + 1.34sINFOmove_group[92mYou can start planning now![0m + 1.64sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.84sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 1.84sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780467933.27309465 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780467933.28325200 seconds ×2 + 2.42sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.42sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780467933.82414842 seconds. ×2 + 2.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.94sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780467934.94428611 seconds ×2 + 4.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 5.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 6.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 6.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 6.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 6.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 7.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 7.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 8.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 8.13sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.15sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 8.15sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal
✓ passed	Open Gripper	open_gripper.xml	1.6s	65 info
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.50sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780467933.27309465 seconds. ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780467933.28325200 seconds ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780467933.82414842 seconds. ×2 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.60sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780467934.94428611 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 6.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 6.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 6.79sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.80sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 6.80sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Accepted new action goal + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Got request to cancel active goal. + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Canceling active goal... + 0.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780467949.42017698 seconds ×2 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780467949.96617889 seconds. ×2 + 1.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780467950.09630060 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780467950.72129011 seconds. ×2 + 2.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.08sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Accepted new action goal
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780467989.71143436 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780467990.28813696 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780467990.38826728 seconds ×2 + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780467990.99197340 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Accepted new action goal + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Accepted new action goal
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780468035.20281863 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780468035.81494260 seconds. ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780468035.87506723 seconds ×2 + 1.21sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780468036.41774917 seconds. ×2 + 1.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.31sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Received new action goal + 1.31sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Accepted new action goal + 3.32sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780468038.51787663 seconds ×2 + 3.88sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780468039.08081174 seconds. ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.99sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Accepted new action goal + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.6s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780468283.41984391 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780468284.05806422 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780468284.13820601 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780468284.69357419 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: 1780468284.71550941 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780468285.26533794 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Accepted new action goal
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780468283.41984391 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780468284.05806422 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780468284.13820601 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780468284.69357419 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: 1780468284.71550941 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780468285.26533794 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Accepted new action goal
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.5s	2 errors · 2 warnings · 41 info
+ 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780468295.51993728 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780468296.14248824 seconds. ×2 + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780468297.52261782 seconds ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780468298.06371188 seconds. ×2 + 2.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.55sINFOobjective_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 + 2.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780468298.06493998 seconds ×2 + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780468298.60681844 seconds. ×2 + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780468298.60719800 seconds ×2 + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780468299.15568757 seconds. ×2 + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 6:10.010 of wall time (214/113946). Below 1% is expected on a non-realtime system.[0m + 6.70sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 6.70sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 6.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780468302.31581187 seconds ×2 + 6.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT)
✓ passed	Vector and String Example	vector_and_string_example.xml	0.5s	2 errors · 2 warnings · 37 info
+ 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780468295.51993728 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780468296.14248824 seconds. ×2 + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780468297.52261782 seconds ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780468298.06371188 seconds. ×2 + 2.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.55sINFOobjective_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 + 2.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780468298.06493998 seconds ×2 + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780468298.60681844 seconds. ×2 + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780468298.60719800 seconds ×2 + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780468299.15568757 seconds. ×2 + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 6:10.010 of wall time (214/113946). Below 1% is expected on a non-realtime system.[0m
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.1s	2 errors · 2 warnings · 36 info
+ 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780468295.51993728 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780468296.14248824 seconds. ×2 + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780468297.52261782 seconds ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780468298.06371188 seconds. ×2 + 2.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.55sINFOobjective_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 + 2.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780468298.06493998 seconds ×2 + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780468298.60681844 seconds. ×2 + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780468298.60719800 seconds ×2 + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780468299.15568757 seconds. ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.1s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Accepted new action goal + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Got request to cancel active goal. + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Canceling active goal... + 0.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780467949.42017698 seconds ×2 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780467949.96617889 seconds. ×2 + 1.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780467950.09630060 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780467950.72129011 seconds. ×2 + 2.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.08sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Accepted new action goal
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	Place Object	place_object.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.96sINFOobjective_server_nodePath shortcutter: [X________X] + 2.97sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780467989.71143436 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780467990.28813696 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780467990.38826728 seconds ×2 + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780467990.99197340 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Accepted new action goal + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Accepted new action goal
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780468046.85841870 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423176467 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423205489 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903505658 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903537770 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.004874720 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007773064 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007799126 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.97sINFOobjective_server_node[0;93m2026-06-03 06:27:28.303004314 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320802790 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320836153 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780468049.23739767 seconds ×2 + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780468049.96619821 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.46sINFOobjective_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 + 4.47sINFOobjective_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 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 4.73sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Received new action goal + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Accepted new action goal
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Accepted new action goal + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Got request to cancel active goal. + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Canceling active goal... + 0.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780467949.42017698 seconds ×2 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780467949.96617889 seconds. ×2 + 1.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780467950.09630060 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780467950.72129011 seconds. ×2 + 2.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.08sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Accepted new action goal
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Accepted new action goal + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Got request to cancel active goal. + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Canceling active goal... + 0.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780467949.42017698 seconds ×2 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780467949.96617889 seconds. ×2 + 1.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780467950.09630060 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780467950.72129011 seconds. ×2 + 2.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.08sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Accepted new action goal
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Accepted new action goal + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Got request to cancel active goal. + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Canceling active goal... + 0.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780467949.42017698 seconds ×2 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780467949.96617889 seconds. ×2 + 1.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780467950.09630060 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780467950.72129011 seconds. ×2 + 2.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.08sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Accepted new action goal
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Accepted new action goal + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Got request to cancel active goal. + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Canceling active goal... + 0.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780467949.42017698 seconds ×2 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780467949.96617889 seconds. ×2 + 1.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780467950.09630060 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780467950.72129011 seconds. ×2 + 2.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.08sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Accepted new action goal
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 06:25:48.749] [info] Accepted new action goal + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Got request to cancel active goal. + 0.75sINFOros2_control_node[2026-06-03 06:25:49.395] [info] Canceling active goal... + 0.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780467949.42017698 seconds ×2 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780467949.96617889 seconds. ×2 + 1.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780467950.09630060 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780467950.72129011 seconds. ×2 + 2.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.08sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-03 06:25:51.864] [info] Accepted new action goal
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780467989.71143436 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780467990.28813696 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780467990.38826728 seconds ×2 + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780467990.99197340 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Accepted new action goal + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Accepted new action goal
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780467989.71143436 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780467990.28813696 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780467990.38826728 seconds ×2 + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780467990.99197340 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Accepted new action goal + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Accepted new action goal
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 06:26:28.324] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780467989.71143436 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780467990.28813696 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780467990.38826728 seconds ×2 + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.45sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780467990.99197340 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 06:26:31.096] [info] Accepted new action goal + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.45sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-03 06:26:34.435] [info] Accepted new action goal
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	Force Relaxation	force_relaxation.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	Grasp Planning	grasp_planning.xml	0.0s	2 errors · 27 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 06:26:39.083] [info] Accepted new action goal + 2.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.002 of wall time (22/21709). Below 1% is expected on a non-realtime system.[0m + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 2.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780468001.40555000 seconds ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.46sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780468002.01394391 seconds. ×2 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.13sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Received new action goal + 4.14sINFOros2_control_node[2026-06-03 06:26:43.147] [info] Accepted new action goal
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	2 errors · 36 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00286197 s). + 0.13sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.16sINFOros2_control_node[2026-06-03 06:27:01.401] [info] Received new action goal + 0.16sINFOros2_control_node[2026-06-03 06:27:01.401] [info] Accepted new action goal + 0.60sINFOros2_control_node[2026-06-03 06:27:01.843] [info] Received new action goal + 0.60sINFOros2_control_node[2026-06-03 06:27:01.843] [info] Accepted new action goal + 1.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.99sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.26sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.26sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.26sINFOros2_control_nodeGot request to cancel goal[0m + 2.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 2.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780468023.53110957 seconds ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780468024.13628578 seconds. ×2 + 2.93sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.93sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.93sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.93sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.06sINFOros2_control_node[2026-06-03 06:27:04.299] [info] Received new action goal + 3.06sINFOros2_control_node[2026-06-03 06:27:04.299] [info] Accepted new action goal + 5.39sINFOros2_control_node[2026-06-03 06:27:06.632] [info] Received new action goal + 5.39sINFOros2_control_node[2026-06-03 06:27:06.633] [info] Accepted new action goal
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780468035.20281863 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780468035.81494260 seconds. ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780468035.87506723 seconds ×2 + 1.21sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780468036.41774917 seconds. ×2 + 1.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.31sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Received new action goal + 1.31sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Accepted new action goal + 3.32sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780468038.51787663 seconds ×2 + 3.88sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780468039.08081174 seconds. ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.99sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Accepted new action goal + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	ML Auto Grasp Object from Clicked Point	ml_auto_grasp_object_from_clicked_point.xml	0.0s	31 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780468035.81494260 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780468035.87506723 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780468036.41774917 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.70sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Accepted new action goal + 2.70sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780468038.51787663 seconds ×2 + 3.27sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780468039.08081174 seconds. ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.38sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Accepted new action goal + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	31 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780468035.81494260 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780468035.87506723 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780468036.41774917 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.70sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-03 06:27:16.511] [info] Accepted new action goal + 2.70sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780468038.51787663 seconds ×2 + 3.27sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780468039.08081174 seconds. ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.38sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 06:27:19.194] [info] Accepted new action goal + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780468046.85841870 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423176467 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423205489 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903505658 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903537770 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.004874720 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007773064 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007799126 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.97sINFOobjective_server_node[0;93m2026-06-03 06:27:28.303004314 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320802790 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320836153 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780468049.23739767 seconds ×2 + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780468049.96619821 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.46sINFOobjective_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 + 4.47sINFOobjective_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 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 4.73sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Received new action goal + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Accepted new action goal
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780468046.85841870 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423176467 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423205489 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903505658 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903537770 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.004874720 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007773064 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007799126 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.97sINFOobjective_server_node[0;93m2026-06-03 06:27:28.303004314 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320802790 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320836153 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780468049.23739767 seconds ×2 + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780468049.96619821 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.46sINFOobjective_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 + 4.47sINFOobjective_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 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 4.73sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Received new action goal + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Accepted new action goal
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780468046.85841870 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423176467 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423205489 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903505658 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903537770 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.004874720 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007773064 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007799126 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.97sINFOobjective_server_node[0;93m2026-06-03 06:27:28.303004314 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320802790 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320836153 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780468049.23739767 seconds ×2 + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780468049.96619821 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.46sINFOobjective_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 + 4.47sINFOobjective_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 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 4.73sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Received new action goal + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Accepted new action goal
− skipped	Move Along Square	move_along_square.xml	0.0s	42 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780468046.85841870 seconds. ×2 + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423176467 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.09sINFOobjective_server_node[0;93m2026-06-03 06:27:27.423205489 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903505658 [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 + 1.57sINFOobjective_server_node[0;93m2026-06-03 06:27:27.903537770 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.004874720 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007773064 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-03 06:27:28.007799126 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.97sINFOobjective_server_node[0;93m2026-06-03 06:27:28.303004314 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320802790 [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 + 1.98sINFOobjective_server_node[0;93m2026-06-03 06:27:28.320836153 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780468049.23739767 seconds ×2 + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780468049.96619821 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.02sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.46sINFOobjective_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 + 4.47sINFOobjective_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 + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 4.53sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 4.73sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Received new action goal + 4.77sINFOros2_control_node[2026-06-03 06:27:31.101] [info] Accepted new action goal
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	19 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780468103.84205508 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780468104.40212703 seconds. ×2 + 0.56sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X___X] + 0.71sINFOros2_control_node[2026-06-03 06:28:24.555] [info] Received new action goal + 0.71sINFOros2_control_node[2026-06-03 06:28:24.555] [info] Accepted new action goal + 1.98sINFOobjective_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 + 1.99sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.04sINFOobjective_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	6 errors · 944 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×200 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×197 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×200 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×197 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×68 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×68 + 1.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468171.288094) + 1.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468171.288094)[0m + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780468173.00447631 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.058094) + 3.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.058094)[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.078094) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468155.018094) that ends in the past (1780468173.078094)[0m + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780468173.59471989 seconds. ×2 + 3.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.80sINFOros2_control_node[2026-06-03 06:29:33.775] [info] Received new action goal + 3.80sINFOros2_control_node[2026-06-03 06:29:33.775] [info] Accepted new action goal + 4.11sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 4.11sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	Octomap Example	octomap_example.xml	0.0s	8 errors · 757 info
+ 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×166 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×170 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×166 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×169 + 0.06sINFOjoint_trajectory_controllerGoal reached, success! ×35 + 0.06sINFOros2_control_nodeGoal reached, success![0m ×35 + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780468209.90735507 seconds ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.982249) + 3.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.982249)[0m + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.992249) + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468210.002249) ×2 + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468209.992249)[0m + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780468192.172250) that ends in the past (1780468210.002249)[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780468210.52083707 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.09sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.09sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.67sINFOobjective_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 + 4.75sINFOobjective_server_nodeFound path in 6 iterations (0.00510643 s). + 4.80sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.81sINFOros2_control_node[2026-06-03 06:30:11.682] [info] Received new action goal + 4.81sINFOros2_control_node[2026-06-03 06:30:11.682] [info] Accepted new action goal
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	23 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780468240.30187798 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780468241.01679063 seconds. ×2 + 1.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.80sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.80sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.80sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 1.80sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.80sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.80sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 1.85sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.85sINFOobjective_server_nodePath shortcutter: [X______X] + 1.87sINFOros2_control_node[2026-06-03 06:30:41.260] [info] Received new action goal + 1.87sINFOros2_control_node[2026-06-03 06:30:41.260] [info] Accepted new action goal + 1.98sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.006 of wall time (195/95524). Below 1% is expected on a non-realtime system.[0m
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	23 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780468240.30187798 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780468241.01679063 seconds. ×2 + 1.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.80sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.80sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.80sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 1.80sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.80sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.80sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 1.85sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.85sINFOobjective_server_nodePath shortcutter: [X______X] + 1.87sINFOros2_control_node[2026-06-03 06:30:41.260] [info] Received new action goal + 1.87sINFOros2_control_node[2026-06-03 06:30:41.260] [info] Accepted new action goal + 1.98sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.006 of wall time (195/95524). Below 1% is expected on a non-realtime system.[0m
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.96sINFOobjective_server_nodePath shortcutter: [X________X] + 2.97sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.96sINFOobjective_server_nodePath shortcutter: [X________X] + 2.97sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.96sINFOobjective_server_nodePath shortcutter: [X________X] + 2.97sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick object	pick_object.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.96sINFOobjective_server_nodePath shortcutter: [X________X] + 2.97sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.96sINFOobjective_server_nodePath shortcutter: [X________X] + 2.97sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.96sINFOobjective_server_nodePath shortcutter: [X________X] + 2.97sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.96sINFOobjective_server_nodePath shortcutter: [X________X] + 2.97sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 06:30:49.235] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 06:30:51.006] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 06:30:51.417] [info] Canceling active goal... + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780468251.43693018 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780468252.05278254 seconds. ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.96sINFOobjective_server_nodePath shortcutter: [X________X] + 2.97sINFOros2_control_node[2026-06-03 06:30:52.205] [info] Received new action goal + 2.97sINFOros2_control_node[2026-06-03 06:30:52.206] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	2 errors · 12 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780468262.41303849 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780468262.95644546 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.76sINFOros2_control_node[2026-06-03 06:31:03.175] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-03 06:31:03.175] [info] Accepted new action goal + 0.98sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.98sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	16 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780468272.77660775 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.55sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780468273.32963920 seconds. ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.65sINFOobjective_server_nodePath shortcutter: [X________X] + 0.66sINFOros2_control_node[2026-06-03 06:31:13.436] [info] Received new action goal + 0.66sINFOros2_control_node[2026-06-03 06:31:13.436] [info] Accepted new action goal + 0.70sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.70sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780468283.41984391 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780468284.05806422 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780468284.13820601 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780468284.69357419 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: 1780468284.71550941 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780468285.26533794 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Accepted new action goal
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780468283.41984391 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780468284.05806422 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780468284.13820601 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780468284.69357419 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: 1780468284.71550941 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780468285.26533794 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Accepted new action goal
− skipped	Register CAD Part	register_cad_part.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780468283.41984391 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780468284.05806422 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780468284.13820601 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780468284.69357419 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: 1780468284.71550941 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780468285.26533794 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Accepted new action goal
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780468283.41984391 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780468284.05806422 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780468284.13820601 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780468284.69357419 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: 1780468284.71550941 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780468285.26533794 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Accepted new action goal
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780468283.41984391 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780468284.05806422 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780468284.13820601 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780468284.69357419 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: 1780468284.71550941 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780468285.26533794 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Accepted new action goal
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780468283.41984391 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780468284.05806422 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780468284.13820601 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780468284.69357419 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: 1780468284.71550941 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780468285.26533794 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-03 06:31:25.369] [info] Accepted new action goal
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	2 errors · 2 warnings · 36 info
+ 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 06:31:35.515] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780468295.51993728 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780468296.14248824 seconds. ×2 + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.65sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780468297.52261782 seconds ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780468298.06371188 seconds. ×2 + 2.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.55sINFOobjective_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 + 2.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780468298.06493998 seconds ×2 + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.67sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.67sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780468298.60681844 seconds. ×2 + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780468298.60719800 seconds ×2 + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.18sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780468299.15568757 seconds. ×2

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

14 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	segment_image_from_point_subtree.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	segment_image_from_point_subtree.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal

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

20 skip

− skipped	—	move_to_pose.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	move_to_pose_jtc.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	execute_mtc_solution.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	execute_mtc_solution.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	interpolate_to_joint_state.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	interpolate_to_joint_state.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	move_to_joint_state.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	move_to_joint_state.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	move_to_pose.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	move_to_pose_jtc.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	move_to_waypoint.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	move_to_waypoint.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	move_to_waypoint_jtc.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	move_to_waypoint_jtc.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	record_teleop_trajectory.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	record_teleop_trajectory.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal
− skipped	—	track_moving_frame.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	track_moving_frame.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal

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

2 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780467935.51240993 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780467936.52254510 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780467937.06517053 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780467937.08530140 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780467937.64786744 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780467937.79829049 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780467938.43209362 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780467938.47223234 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780467939.02419949 seconds. ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.3352e-05 s). + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Received new action goal + 3.66sINFOros2_control_node[2026-06-03 06:25:39.171] [info] Accepted new action goal + 5.86sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.001 of wall time (2/3170). Below 1% is expected on a non-realtime system.[0m + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Received new action goal + 6.20sINFOros2_control_node[2026-06-03 06:25:41.707] [info] Accepted new action goal