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 · 143 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. ×39 + 8.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 14.16sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.16sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.16sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.17sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.17sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.17sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.17sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.17sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.17sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.17sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] + 14.19sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.19sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.19sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.19sERRORros2 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' + 14.19sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] + 14.21sERRORros2 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' + 14.21sERRORros2 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' + 14.21sERRORros2 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' + 14.21sERRORros2 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' + 14.22sERRORros2 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' + 14.22sERRORros2 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' + 14.22sERRORros2 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' + 14.22sERRORros2 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' + 14.22sERRORros2 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' + 14.22sERRORros2 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' + 14.23sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.24sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] + 14.25sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] + 14.26sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] + 14.28sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] + 14.29sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] + 14.31sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] + 14.32sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] + 14.34sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 14.34sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] + 14.36sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] + 14.37sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] + 14.39sINFOros2 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] + 14.40sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.40sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 24393, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. + 14.41sINFOros2 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] + 14.42sINFOros2 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] + 14.43sINFOweb_video_server-31process has finished cleanly [pid 24502] + 14.43sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 24391, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. + 14.44sINFOros2 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] + 14.45sINFOtf2_web_republisher_node-30process has finished cleanly [pid 24500] + 14.45sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 24387, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. + 14.45sINFOros2 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] + 14.46sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 24384, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 14.47sINFOros2 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] + 14.48sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 24382, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. + 14.48sINFOros2 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] + 14.49sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 24380, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. + 14.50sINFOros2 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] + 14.50sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 24378, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. + 14.51sINFOros2 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] + 14.52sERRORui_teleop_bridge-28process has died [pid 24492, 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_n8lr8o0m']. + 14.53sINFOros2 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] + 14.53sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 24376, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. + 14.54sINFOros2 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] + 14.55sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 24308, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. + 14.56sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] + 14.56sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 24408] + 14.56sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 24306, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. + 14.56sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 24304, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 14.56sINFOexecute_objective_bridge-27process has finished cleanly [pid 24425] + 14.56sINFOmove_joint_resampler_node-23process has finished cleanly [pid 24406] + 14.57sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] + 14.58sINFOobjective_server_node_main-25process has finished cleanly [pid 24411] + 14.59sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] + 14.59sINFOwaypoint_manager_node-22process has finished cleanly [pid 24404] + 14.60sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] + 14.61sINFOparameter_manager_node-21process has finished cleanly [pid 24399] + 14.62sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] + 14.63sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] + 14.65sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] + 14.65sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 14.65sINFOcomponent_container_mt-26process has finished cleanly [pid 24422] + 14.65sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 14.65sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 14.65sERRORui_teleop_bridgeTraceback (most recent call last): + 14.65sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 14.65sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 14.65sINFOui_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 + 14.65sINFOui_teleop_bridgerclpy.shutdown() + 14.65sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 14.65sINFOui_teleop_bridge_shutdown(context=context) + 14.65sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 14.65sINFOui_teleop_bridgereturn context.shutdown() + 14.65sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 14.65sINFOui_teleop_bridgeself.__context.shutdown() + 14.65sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 14.65sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m + 14.65sINFOcomponent_container_mtStopping planning scene monitor[0m + 14.65sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.65sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.65sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.65sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.65sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.65sINFOobjective_server_node[2026-06-03 13:59:54.480] [moveit_pro_license] [info] + 14.65sINFOobjective_server_node************************************************* ×2 + 14.65sINFOobjective_server_node* MoveIt Pro License + 14.65sINFOobjective_server_node* Application has successfully terminated + 14.65sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m + 14.65sINFOmove_groupDeleting MoveItCpp[0m + 14.66sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system + 14.66sINFOmove_groupStopped publishing maintained planning scene.[0m + 14.66sINFOmove_groupStopping world geometry monitor[0m + 14.66sINFOmove_groupStopping planning scene monitor[0m + 14.66sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 + 14.66sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system + 14.67sERRORodom_qos_relay.pyTraceback (most recent call last): + 14.67sINFOodom_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> + 14.67sINFOodom_qos_relay.pymain() + 14.67sINFOodom_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 + 14.67sINFOodom_qos_relay.pyrclpy.spin(node) + 14.67sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin + 14.67sINFOodom_qos_relay.pyexecutor.spin_once() + 14.67sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once + 14.67sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) + 14.67sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl + 14.67sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) + 14.67sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks + 14.67sINFOodom_qos_relay.pyreturn next(self._cb_iter) + 14.67sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks + 14.67sINFOodom_qos_relay.pyraise ExternalShutdownException() + 14.67sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException + 14.67sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 + 14.67sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 14.68sINFOfoxglove_bridgeShutdown complete[0m + 14.71sINFOmove_group-20process has finished cleanly [pid 24396] + 14.78sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 24300] + 14.79sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 24298] + 14.82sINFOstatic_transform_publisher-4process has finished cleanly [pid 24294] + 14.84sINFOstatic_transform_publisher-3process has finished cleanly [pid 24292] + 14.85sERRORodom_qos_relay.py-5process has died [pid 24296, 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']. + 14.85sINFOstatic_transform_publisher-2process has finished cleanly [pid 24290] + 15.80sINFOfoxglove_bridge-29process has finished cleanly [pid 24498] + 15.80sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system + 19.16sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' + 19.17sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] + 19.18sERRORcomponent_container_isolated-1process has died [pid 24288, 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_zocj73l9 --params-file /tmp/launch_params_4a7aanxu -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	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	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	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	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	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 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	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
! 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	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 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	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
− skipped	Close Gripper	close_gripper.xml	0.0s	1 warning · 50 info
+ 0.00sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON + 0.00sINFOmove_groupTrajectory execution is managing controllers[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON[0m + 0.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×4 + 0.18sINFOmove_group******************************************************** ×2 + 0.18sINFOmove_group* MoveGroup using: + 0.18sINFOmove_group* - apply_planning_scene_service + 0.18sINFOmove_group* - clear_octomap_service + 0.18sINFOmove_group* - ExecuteTaskSolution + 0.18sINFOmove_group* - get_group_urdf + 0.18sINFOmove_group* - load_geometry_from_file + 0.18sINFOmove_group* - get_planning_scene_service + 0.18sINFOmove_group* - kinematics_service + 0.18sINFOmove_group* - save_geometry_to_file + 0.18sINFOmove_group* - GetPlanningGroups + 0.18sINFOmove_group* - SetActiveControllerService + 0.18sINFOmove_group* - URDFPlanningSceneCapability + 0.18sINFOmove_group[0m + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.20sINFOlocal_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 + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m
− 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	1 warning · 50 info
+ 0.00sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON + 0.00sINFOmove_groupTrajectory execution is managing controllers[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON[0m + 0.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×4 + 0.18sINFOmove_group******************************************************** ×2 + 0.18sINFOmove_group* MoveGroup using: + 0.18sINFOmove_group* - apply_planning_scene_service + 0.18sINFOmove_group* - clear_octomap_service + 0.18sINFOmove_group* - ExecuteTaskSolution + 0.18sINFOmove_group* - get_group_urdf + 0.18sINFOmove_group* - load_geometry_from_file + 0.18sINFOmove_group* - get_planning_scene_service + 0.18sINFOmove_group* - kinematics_service + 0.18sINFOmove_group* - save_geometry_to_file + 0.18sINFOmove_group* - GetPlanningGroups + 0.18sINFOmove_group* - SetActiveControllerService + 0.18sINFOmove_group* - URDFPlanningSceneCapability + 0.18sINFOmove_group[0m + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.20sINFOlocal_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 + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m
− 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	1 warning · 50 info
+ 0.00sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON + 0.00sINFOmove_groupTrajectory execution is managing controllers[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON[0m + 0.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×4 + 0.18sINFOmove_group******************************************************** ×2 + 0.18sINFOmove_group* MoveGroup using: + 0.18sINFOmove_group* - apply_planning_scene_service + 0.18sINFOmove_group* - clear_octomap_service + 0.18sINFOmove_group* - ExecuteTaskSolution + 0.18sINFOmove_group* - get_group_urdf + 0.18sINFOmove_group* - load_geometry_from_file + 0.18sINFOmove_group* - get_planning_scene_service + 0.18sINFOmove_group* - kinematics_service + 0.18sINFOmove_group* - save_geometry_to_file + 0.18sINFOmove_group* - GetPlanningGroups + 0.18sINFOmove_group* - SetActiveControllerService + 0.18sINFOmove_group* - URDFPlanningSceneCapability + 0.18sINFOmove_group[0m + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.20sINFOlocal_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 + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m
− 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	23.8s	81 errors · 27 warnings · 3122 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/2026-06-03-13-54-05-507137-dd7a22b64b99-23471 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 10.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 10.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 10.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 10.54sINFOros2_control_node-8process started with pid [23517] + 10.54sINFOmove_group-20process started with pid [23613] + 10.54sINFOparameter_manager_node-21process started with pid [23616] + 10.54sINFOwaypoint_manager_node-22process started with pid [23618] + 10.54sINFOmove_joint_resampler_node-23process started with pid [23621] + 10.54sINFOmove_end_effector_resampler_node-24process started with pid [23623] + 10.54sINFOobjective_server_node_main-25process started with pid [23625] + 10.54sINFOcomponent_container_mt-26process started with pid [23627] + 10.54sINFOexecute_objective_bridge-27process started with pid [23630] + 10.54sINFOui_teleop_bridge-28process started with pid [23704] + 10.54sINFOfoxglove_bridge-29process started with pid [23706] + 10.54sINFOtf2_web_republisher_node-30process started with pid [23723] + 10.54sINFOweb_video_server-31process started with pid [23725] + 10.56sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 10.56sINFOcomponent_container_isolated-1process started with pid [23503] + 10.56sINFOstatic_transform_publisher-2process started with pid [23505] + 10.56sINFOstatic_transform_publisher-3process started with pid [23507] + 10.56sINFOstatic_transform_publisher-4process started with pid [23509] + 10.56sINFOodom_qos_relay.py-5process started with pid [23511] + 10.56sINFOscan_to_scan_filter_chain-6process started with pid [23513] + 10.56sINFOscan_to_scan_filter_chain-7process started with pid [23515] + 10.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [23519] + 10.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [23521] + 10.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [23523] + 10.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [23591] + 10.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [23593] + 10.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [23595] + 10.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [23597] + 10.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [23600] + 10.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [23603] + 10.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [23606] + 10.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [23610] + 10.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 10.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 10.65sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 10.65sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 10.65sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 10.65sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 10.65sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 10.66sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 10.66sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 10.66sWARNros2_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 + 10.66sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 10.66sINFOcomponent_container_mtLoad Library: /opt/ros/humble/lib/librobot_state_publisher_node.so[0m ×2 + 10.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 10.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 10.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 10.71sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 10.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 10.80sINFOcomponent_container_mtgot segment axle_link[0m ×2 + 10.80sINFOcomponent_container_mtgot segment base[0m ×2 + 10.80sINFOcomponent_container_mtgot segment base_link[0m ×2 + 10.80sINFOcomponent_container_mtgot segment base_link_inertia[0m ×2 + 10.80sINFOcomponent_container_mtgot segment chassis_link[0m ×2 + 10.80sINFOcomponent_container_mtgot segment collision_Cube[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_001[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_002[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_002_001[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_004[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_005[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_006[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_007[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_008[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_009[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_010[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_011[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_012[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_013[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_014[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Cube_015[0m ×2 + 10.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_001[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_002[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_003[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_004[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_005[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_006[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_007[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_008[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_009[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_010[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_011[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_Plane_012[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_SM_Box_A7_73[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_SM_Box_A8[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_SM_Box_C7_77[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_SM_Floor_376[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_SM_Pillar2_001[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_SM_Pillar3_001[0m ×2 + 10.81sINFOcomponent_container_mtgot segment collision_SM_Pillar4_001[0m ×2 + 10.82sINFOcomponent_container_mtgot segment collision_SM_Pillar5_001[0m ×2 + 10.82sINFOcomponent_container_mtgot segment collision_SM_Pillar6_001[0m ×2 + 10.82sINFOcomponent_container_mtgot segment collision_SM_Pillar7_001[0m ×2 + 10.82sINFOcomponent_container_mtgot segment collision_SM_Pillar8_001[0m ×2 + 10.82sINFOcomponent_container_mtgot segment collision_SM_Pillar_10_001[0m ×2 + 10.82sINFOcomponent_container_mtgot segment collision_SM_Room_426_001[0m ×2 + 10.82sINFOcomponent_container_mtgot segment collision_SM_Room_426_002[0m ×2 + 10.82sINFOcomponent_container_mtgot segment collision_SM_Room_426_003[0m ×2 + 10.82sINFOcomponent_container_mtgot segment collision_SM_Room_426_004[0m ×2 + 10.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 10.83sINFOcomponent_container_mtgot segment collision_SM_WallBack_396_001[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_SM_WallBack_396_002[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_SM_WallFront_382_001[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_SM_WallFront_382_002[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_SM_WallSide16_002[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_SM_WallSide4_001[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_001[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_002[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_003[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_004[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_005[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_006[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_007[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_008[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_009[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_010[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_011[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_012[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_013[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_014[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_supports_015[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_vacuum_base[0m ×2 + 10.83sINFOcomponent_container_mtgot segment collision_vacuum_suction_cups[0m ×2 + 10.83sINFOcomponent_container_mtgot segment flange[0m ×2 + 10.83sINFOcomponent_container_mtgot segment forearm_link[0m ×2 + 10.83sINFOcomponent_container_mtgot segment forearm_pinch_link[0m ×2 + 10.83sINFOcomponent_container_mtgot segment front_cover_link[0m ×2 + 10.83sINFOcomponent_container_mtgot segment front_left_wheel_link[0m ×2 + 10.84sINFOcomponent_container_mtgot segment front_lights_link[0m ×2 + 10.84sINFOcomponent_container_mtgot segment front_right_wheel_link[0m ×2 + 10.84sINFOcomponent_container_mtgot segment front_rocker_link[0m ×2 + 10.84sINFOcomponent_container_mtgot segment ft_frame[0m ×2 + 10.84sINFOcomponent_container_mtgot segment grasp_link[0m ×2 + 10.84sINFOcomponent_container_mtgot segment ham_assem_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment imu_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment left_side_cover_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment mid_mount[0m ×2 + 10.85sINFOcomponent_container_mtgot segment rear_cover_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment rear_left_wheel_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment rear_lights_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment rear_right_wheel_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment rear_rocker_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment ridgeback_base_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment right_side_cover_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment riser_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment shoulder_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment tool0[0m ×2 + 10.85sINFOcomponent_container_mtgot segment top_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment upper_arm_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment ur_mount_point[0m ×2 + 10.85sINFOcomponent_container_mtgot segment vacuum_base[0m ×2 + 10.85sINFOcomponent_container_mtgot segment virtual_rail_link_1[0m ×2 + 10.85sINFOcomponent_container_mtgot segment virtual_rail_link_2[0m ×2 + 10.85sINFOcomponent_container_mtgot segment visual_mesh[0m ×2 + 10.85sINFOcomponent_container_mtgot segment world[0m ×2 + 10.85sINFOcomponent_container_mtgot segment wrist_1_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment wrist_2_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment wrist_3_link[0m ×2 + 10.85sINFOcomponent_container_mtgot segment wrist_3_pinch_link[0m ×2 + 10.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 10.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 10.88sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m ×2 + 10.90sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 10.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 10.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 10.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 10.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 10.98sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 11.00sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m + 11.04sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/smoother_server/transition_event"[0m + 11.04sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/scan_front_filtered"[0m + 11.04sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/planner_server/transition_event"[0m + 11.04sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description"[0m + 11.05sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 11.05sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 11.05sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 11.05sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 11.05sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 11.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 11.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 11.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 11.06sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 11.08sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/parameter_events"[0m + 11.08sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat"[0m + 11.08sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/scan_rear"[0m + 11.08sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/rosout"[0m + 11.09sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/store_joint_state"[0m + 11.09sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/tf"[0m + 11.09sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/scan_front"[0m + 11.10sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/move_joint"[0m + 11.10sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/move_end_effector"[0m + 11.10sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/map_server/transition_event"[0m + 11.10sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/local_costmap/local_costmap/transition_event"[0m + 11.10sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/global_costmap/global_costmap/transition_event"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/diagnostics"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/controller_server/transition_event"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/behavior_server/transition_event"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_joint"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/scan_rear_filtered"[0m + 11.11sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/agent_interface/move_end_effector"[0m + 11.22sWARNscan_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 + 11.27sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.27sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 11.27sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.38sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 11.38sINFOmove_groupLoaded robot model in 0.701799 seconds[0m + 11.38sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 11.38sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.46sINFOros2_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 + 11.46sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 11.46sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 11.65sERRORros2_control_nodeXML Error: Schema violation: unrecognized element ×2 + 11.65sINFOros2_control_nodeElement 'option', line 0 ×2 + 11.65sINFOros2_control_node[0m ×2 + 11.65sINFOros2_control_nodeFailed to initialize hardware 'ur_mujoco_control'[0m ×2 + 11.65sWARNros2_control_nodeSystem hardware component 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' failed to initialize.[0m ×2 + 11.65sERRORros2_control_nodeterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.65sERRORros2_control_nodewhat(): Wrong state or command interface configuration. ×2 + 11.65sINFOros2_control_nodemissing state interfaces: ×2 + 11.65sINFOros2_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 + 11.65sINFOros2_control_nodemissing command interfaces: ×2 + 11.65sINFOros2_control_node ×2 + 11.66sERRORros2_control_nodeStack trace (most recent call last): ×2 + 11.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 11.68sINFOros2_control_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.69sINFOros2_control_node#14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56373dd4aec4, in + 11.69sINFOros2_control_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99d359ce3f, in __libc_start_main + 11.69sINFOros2_control_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99d359cd8f, in + 11.69sINFOros2_control_node#11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56373dd4a36f, in + 11.69sINFOros2_control_node#10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f99d3cb948a, 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&) + 11.69sINFOros2_control_node#9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f99d3cb443f, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) + 11.69sINFOros2_control_node#8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f99d346b334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) + 11.69sINFOros2_control_node#7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f99d3447723, in + 11.69sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f99d386c4d7, in __cxa_throw + 11.69sINFOros2_control_node#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f99d386c276, in std::terminate() + 11.69sINFOros2_control_node#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f99d386c20b, in + 11.69sINFOros2_control_node#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f99d3860b9d, in + 11.69sINFOros2_control_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99d359b7f2, in abort + 11.69sINFOros2_control_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99d35b5475, in raise + 11.69sINFOros2_control_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99d36099fc, in pthread_kill + 11.70sERRORros2_control_nodeAborted (Signal sent by tkill() 23517 0) + 11.76sERRORros2_control_node-8process has died [pid 23517, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_ywraoz2m --params-file /tmp/launch_params_fs2eb5xb --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_t3ugvyhq --params-file /tmp/launch_params_gnetuhti']. + 11.79sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.79sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 11.80sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 11.88sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 11.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 11.88sINFOwaypoint_manager_nodeLoaded robot model in 0.475425 seconds[0m + 11.88sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 11.88sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.89sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 11.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 11.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.40sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 12.40sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 12.40sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 12.40sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 12.40sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 12.40sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 12.41sINFOmove_groupStarting planning scene monitor[0m ×2 + 12.41sINFOmove_groupListening to '/planning_scene'[0m ×2 + 12.41sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 12.41sINFOmove_groupListening to 'collision_object'[0m ×2 + 12.41sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 12.82sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 12.82sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 12.83sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 12.84sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/velocity_smoother/transition_event"[0m + 12.84sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transformed_global_plan"[0m + 12.85sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/trajectories"[0m + 12.85sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m + 12.90sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/planning_scene"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/odom_reliable"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/odom"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/plan_smoothed"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/robot_description_semantic"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/plan"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/monitored_planning_scene"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/preempt_teleop"[0m + 12.91sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/local_costmap/published_footprint"[0m + 12.92sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/planning_scene_world"[0m + 12.92sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/local_costmap/footprint"[0m + 12.92sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/local_costmap/costmap_updates"[0m + 12.92sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/local_costmap/costmap"[0m + 12.92sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_states"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/imu_sensor_broadcaster/imu_reliable"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/map"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/imu_sensor_broadcaster/imu"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/published_footprint"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/global_costmap/footprint"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/global_costmap/costmap_updates"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/speed_limit"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/global_costmap/costmap_raw"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/local_costmap/costmap_raw"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/global_costmap/costmap"[0m + 12.93sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/collision_object"[0m + 12.94sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/waypoint_follower/transition_event"[0m + 12.94sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/cmd_vel_teleop"[0m + 12.94sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/cmd_vel_nav"[0m + 12.94sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/cmd_vel"[0m + 12.94sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/bt_navigator/transition_event"[0m + 12.94sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/bond"[0m + 12.94sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/attached_collision_object"[0m ×2 + 12.94sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/goal_pose"[0m ×2 + 13.38sINFOobjective_server_node[2026-06-03 13:54:21.895] [moveit_pro_license] [info] + 13.38sINFOobjective_server_node************************************************* ×6 + 13.38sINFOobjective_server_node* MoveIt Pro License ×3 + 13.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 13.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 13.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 13.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 13.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 13.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 13.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 13.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 13.60sWARNcomponent_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 + 13.65sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 13.65sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 13.65sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 13.67sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 13.67sINFOobjective_server_nodeLoaded robot model in 0.24563 seconds[0m + 13.67sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 13.67sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 13.86sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/statistics"[0m ×2 + 13.86sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/failure_reason_collector"[0m ×2 + 13.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/description"[0m ×2 + 14.00sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.04sINFOobjective_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 + 14.04sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 14.06sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 14.06sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 14.06sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 14.06sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 14.06sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 14.06sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 14.06sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 14.34sINFOobjective_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 + 14.34sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 14.51sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/visual_markers"[0m ×2 + 14.51sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/blackboard_contents"[0m ×2 + 14.51sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/behavior_tree_status"[0m ×2 + 14.90sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×6 + 15.04sWARNobjective_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 + 15.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 15.70sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 15.70sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 15.70sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 15.72sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 15.72sINFOcomponent_container_mtLoaded robot model in 2.11074 seconds[0m + 15.72sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 15.72sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.36sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 16.36sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 16.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 16.57sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 16.90sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 16.90sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 16.90sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 16.93sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 16.93sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 16.98sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 16.98sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 16.98sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 16.98sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 16.98sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 16.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 17.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.07sINFOmove_group ×8 + 17.07sINFOmove_group******************************************************** ×4 + 17.07sINFOmove_group* MoveGroup using: ×2 + 17.07sINFOmove_group* - apply_planning_scene_service ×2 + 17.07sINFOmove_group* - clear_octomap_service ×2 + 17.07sINFOmove_group* - ExecuteTaskSolution ×2 + 17.07sINFOmove_group* - get_group_urdf ×2 + 17.07sINFOmove_group* - load_geometry_from_file ×2 + 17.08sINFOmove_group* - get_planning_scene_service ×2 + 17.08sINFOmove_group* - kinematics_service ×2 + 17.08sINFOmove_group* - save_geometry_to_file ×2 + 17.08sINFOmove_group* - GetPlanningGroups ×2 + 17.08sINFOmove_group* - SetActiveControllerService ×2 + 17.08sINFOmove_group* - URDFPlanningSceneCapability ×2 + 17.08sINFOmove_group[0m ×2 + 17.08sINFOmove_group[92mYou can start planning now![0m ×2 + 17.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m ×2 +160.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +166.62sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.62sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.62sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.62sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.62sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +166.64sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.64sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.64sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +166.65sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.66sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.66sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.66sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.66sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.66sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.66sERRORros2 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' +166.67sERRORros2 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' +166.67sERRORros2 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' +166.67sERRORros2 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' +166.67sERRORros2 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' +166.67sERRORros2 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' +166.67sERRORros2 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' +166.68sERRORros2 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' +166.68sERRORros2 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' +166.68sERRORros2 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' +166.68sERRORros2 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' +166.68sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.68sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.68sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.69sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.69sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.69sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.69sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +166.69sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] +166.70sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +166.72sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +166.72sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +166.73sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +166.75sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +166.75sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +166.77sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +166.78sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +166.80sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +166.81sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +166.83sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +166.85sINFOros2 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] +166.86sINFOros2 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] +166.87sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 23610, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. +166.88sINFOros2 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] +166.89sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 23606, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. +166.89sINFOros2 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] +166.90sINFOweb_video_server-31process has finished cleanly [pid 23725] +166.90sINFOtf2_web_republisher_node-30process has finished cleanly [pid 23723] +166.90sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 23603, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. +166.91sINFOros2 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] +166.92sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 23600, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. +166.92sINFOros2 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] +166.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 23597, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. +166.94sINFOros2 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] +166.94sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 23595, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. +166.95sINFOros2 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] +166.97sINFOros2 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] +166.97sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 23593, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. +166.97sERRORui_teleop_bridge-28process has died [pid 23704, 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_jnbp6nmn']. +166.98sINFOros2 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] +166.98sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 23591, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. +166.98sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 23523, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. +166.99sINFOros2 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] +167.00sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 23521, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. +167.01sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +167.01sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 23623] +167.01sINFOexecute_objective_bridge-27process has finished cleanly [pid 23630] +167.02sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +167.02sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 23519, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. +167.03sINFOmove_joint_resampler_node-23process has finished cleanly [pid 23621] +167.04sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +167.05sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +167.05sINFOwaypoint_manager_node-22process has finished cleanly [pid 23618] +167.05sINFOparameter_manager_node-21process has finished cleanly [pid 23616] +167.06sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +167.08sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +167.09sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +167.09sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +167.10sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +167.10sINFOcomponent_container_mt-26process has finished cleanly [pid 23627] +167.10sERRORui_teleop_bridgeTraceback (most recent call last): +167.10sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +167.10sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +167.10sINFOui_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 +167.10sINFOui_teleop_bridgerclpy.shutdown() +167.10sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +167.10sINFOui_teleop_bridge_shutdown(context=context) +167.10sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +167.10sINFOui_teleop_bridgereturn context.shutdown() +167.10sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +167.10sINFOui_teleop_bridgeself.__context.shutdown() +167.10sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +167.10sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +167.10sINFOcomponent_container_mtStopping planning scene monitor[0m +167.10sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +167.10sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +167.10sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +167.10sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +167.10sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +167.10sINFOobjective_server_node[2026-06-03 13:56:55.339] [moveit_pro_license] [info] +167.10sINFOobjective_server_node* Application has successfully terminated +167.10sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +167.10sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +167.11sINFOmove_groupDeleting MoveItCpp[0m +167.11sINFOmove_groupStopping world geometry monitor[0m +167.11sINFOmove_groupStopping planning scene monitor[0m +167.11sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +167.11sINFOobjective_server_node_main-25process has finished cleanly [pid 23625] +167.12sERRORodom_qos_relay.pyTraceback (most recent call last): +167.12sINFOodom_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> +167.12sINFOodom_qos_relay.pymain() +167.12sINFOodom_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 +167.12sINFOodom_qos_relay.pyrclpy.spin(node) +167.12sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin +167.12sINFOodom_qos_relay.pyexecutor.spin_once() +167.12sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once +167.12sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +167.12sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl +167.12sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) +167.12sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks +167.12sINFOodom_qos_relay.pyreturn next(self._cb_iter) +167.12sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks +167.12sINFOodom_qos_relay.pyraise ExternalShutdownException() +167.12sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +167.12sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 +167.12sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +167.12sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +167.13sINFOfoxglove_bridgeShutdown complete[0m +167.17sINFOmove_group-20process has finished cleanly [pid 23613] +167.23sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 23515] +167.24sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 23513] +167.27sINFOstatic_transform_publisher-4process has finished cleanly [pid 23509] +167.29sINFOstatic_transform_publisher-3process has finished cleanly [pid 23507] +167.30sERRORodom_qos_relay.py-5process has died [pid 23511, 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']. +167.30sINFOstatic_transform_publisher-2process has finished cleanly [pid 23505] +168.25sINFOfoxglove_bridge-29process has finished cleanly [pid 23706] +168.25sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system +171.62sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +171.63sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +171.64sERRORcomponent_container_isolated-1process has died [pid 23503, 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_aiqp4qip --params-file /tmp/launch_params_voa7i1sk -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +178.77sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-13-57-04-261580-dd7a22b64b99-24256 +188.93sINFOstatic_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' +188.93sINFOstatic_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' +188.93sINFOstatic_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' +188.97sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libcontroller_server_core.so +188.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +188.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +189.00sINFOcontroller_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. +189.04sINFOcontroller_serverCreating controller server +189.06sINFOlocal_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. +189.07sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +189.07sINFOlocal_costmap.local_costmapCreating Costmap +189.09sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libmap_server_core.so +189.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +189.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +189.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +189.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +189.19sINFOmap_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. +189.19sINFOmap_serverCreating +189.20sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libsmoother_server_core.so +189.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +189.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +189.25sINFOsmoother_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. +189.28sINFOsmoother_serverCreating smoother server +189.28sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libnav2_lifecycle_manager_core.so +189.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +189.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +189.30sINFOros2_control_node-8process started with pid [24302] +189.30sINFOmove_group-20process started with pid [24396] +189.30sINFOparameter_manager_node-21process started with pid [24399] +189.30sINFOwaypoint_manager_node-22process started with pid [24404] +189.30sINFOmove_joint_resampler_node-23process started with pid [24406] +189.30sINFOmove_end_effector_resampler_node-24process started with pid [24408] +189.30sINFOobjective_server_node_main-25process started with pid [24411] +189.30sINFOcomponent_container_mt-26process started with pid [24422] +189.30sINFOexecute_objective_bridge-27process started with pid [24425] +189.30sINFOui_teleop_bridge-28process started with pid [24492] +189.30sINFOfoxglove_bridge-29process started with pid [24498] +189.30sINFOtf2_web_republisher_node-30process started with pid [24500] +189.30sINFOweb_video_server-31process started with pid [24502] +189.30sINFOlifecycle_manager_localizationCreating +189.31sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +189.31sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +189.31sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +189.31sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libplanner_server_core.so +189.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +189.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +189.32sINFOcomponent_container_isolated-1process started with pid [24288] +189.32sINFOstatic_transform_publisher-2process started with pid [24290] +189.32sINFOstatic_transform_publisher-3process started with pid [24292] +189.32sINFOstatic_transform_publisher-4process started with pid [24294] +189.32sINFOodom_qos_relay.py-5process started with pid [24296] +189.32sINFOscan_to_scan_filter_chain-6process started with pid [24298] +189.32sINFOscan_to_scan_filter_chain-7process started with pid [24300] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [24304] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [24306] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [24308] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [24376] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [24378] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [24380] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [24382] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [24384] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [24387] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [24391] +189.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [24393] +189.32sINFOmap_serverConfiguring +189.37sINFOplanner_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. +189.40sINFOmoveit_studio_containerLoad Library: /opt/ros/humble/lib/librobot_state_publisher_node.so +189.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +189.44sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +189.45sINFOplanner_serverCreating +189.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +189.49sINFOglobal_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. +189.50sINFOglobal_costmap.global_costmapCreating Costmap +189.51sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libbehavior_server_core.so +189.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +189.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +189.55sINFObehavior_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. +189.61sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) +189.62sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libbt_navigator_core.so +189.62sINFOfoxglove_bridgeServer listening on port 3201 +189.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +189.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +189.65sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/smoother_server/transition_event" +189.66sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/smoother_server/transition_event"[0m +189.66sINFObt_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. +189.66sINFObt_navigatorCreating +189.67sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/scan_front_filtered" +189.67sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/scan_front_filtered"[0m +189.67sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libwaypoint_follower_core.so +189.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +189.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +189.68sINFOrobot_state_publishergot segment axle_link +189.68sINFOrobot_state_publishergot segment base +189.68sINFOrobot_state_publishergot segment base_link +189.68sINFOrobot_state_publishergot segment base_link_inertia +189.68sINFOrobot_state_publishergot segment chassis_link +189.68sINFOrobot_state_publishergot segment collision_Cube +189.68sINFOrobot_state_publishergot segment collision_Cube_001 +189.68sINFOrobot_state_publishergot segment collision_Cube_002 +189.68sINFOrobot_state_publishergot segment collision_Cube_002_001 +189.68sINFOrobot_state_publishergot segment collision_Cube_004 +189.68sINFOrobot_state_publishergot segment collision_Cube_005 +189.68sINFOrobot_state_publishergot segment collision_Cube_006 +189.68sINFOrobot_state_publishergot segment collision_Cube_007 +189.68sINFOrobot_state_publishergot segment collision_Cube_008 +189.68sINFOrobot_state_publishergot segment collision_Cube_009 +189.68sINFOrobot_state_publishergot segment collision_Cube_010 +189.68sINFOrobot_state_publishergot segment collision_Cube_011 +189.68sINFOrobot_state_publishergot segment collision_Cube_012 +189.68sINFOrobot_state_publishergot segment collision_Cube_013 +189.68sINFOrobot_state_publishergot segment collision_Cube_014 +189.68sINFOrobot_state_publishergot segment collision_Cube_015 +189.68sINFOrobot_state_publishergot segment collision_Plane +189.68sINFOrobot_state_publishergot segment collision_Plane_001 +189.68sINFOrobot_state_publishergot segment collision_Plane_002 +189.68sINFOrobot_state_publishergot segment collision_Plane_003 +189.68sINFOrobot_state_publishergot segment collision_Plane_004 +189.68sINFOrobot_state_publishergot segment collision_Plane_005 +189.68sINFOrobot_state_publishergot segment collision_Plane_006 +189.68sINFOrobot_state_publishergot segment collision_Plane_007 +189.68sINFOrobot_state_publishergot segment collision_Plane_008 +189.68sINFOrobot_state_publishergot segment collision_Plane_009 +189.68sINFOrobot_state_publishergot segment collision_Plane_010 +189.68sINFOrobot_state_publishergot segment collision_Plane_011 +189.68sINFOrobot_state_publishergot segment collision_Plane_012 +189.68sINFOrobot_state_publishergot segment collision_SM_Box_A7_73 +189.68sINFOrobot_state_publishergot segment collision_SM_Box_A8 +189.68sINFOrobot_state_publishergot segment collision_SM_Box_C7_77 +189.68sINFOrobot_state_publishergot segment collision_SM_Floor_376 +189.68sINFOrobot_state_publishergot segment collision_SM_Pillar2_001 +189.68sINFOrobot_state_publishergot segment collision_SM_Pillar3_001 +189.68sINFOrobot_state_publishergot segment collision_SM_Pillar4_001 +189.68sINFOrobot_state_publishergot segment collision_SM_Pillar5_001 +189.68sINFOrobot_state_publishergot segment collision_SM_Pillar6_001 +189.68sINFOrobot_state_publishergot segment collision_SM_Pillar7_001 +189.68sINFOrobot_state_publishergot segment collision_SM_Pillar8_001 +189.68sINFOrobot_state_publishergot segment collision_SM_Pillar_10_001 +189.68sINFOrobot_state_publishergot segment collision_SM_Room_426_001 +189.68sINFOrobot_state_publishergot segment collision_SM_Room_426_002 +189.68sINFOrobot_state_publishergot segment collision_SM_Room_426_003 +189.68sINFOrobot_state_publishergot segment collision_SM_Room_426_004 +189.68sINFOrobot_state_publishergot segment collision_SM_WallBack_396_001 +189.68sINFOrobot_state_publishergot segment collision_SM_WallBack_396_002 +189.68sINFOrobot_state_publishergot segment collision_SM_WallFront_382_001 +189.68sINFOrobot_state_publishergot segment collision_SM_WallFront_382_002 +189.68sINFOrobot_state_publishergot segment collision_SM_WallSide16_002 +189.68sINFOrobot_state_publishergot segment collision_SM_WallSide4_001 +189.68sINFOrobot_state_publishergot segment collision_supports +189.68sINFOrobot_state_publishergot segment collision_supports_001 +189.68sINFOrobot_state_publishergot segment collision_supports_002 +189.68sINFOrobot_state_publishergot segment collision_supports_003 +189.68sINFOrobot_state_publishergot segment collision_supports_004 +189.68sINFOrobot_state_publishergot segment collision_supports_005 +189.68sINFOrobot_state_publishergot segment collision_supports_006 +189.68sINFOrobot_state_publishergot segment collision_supports_007 +189.68sINFOrobot_state_publishergot segment collision_supports_008 +189.68sINFOrobot_state_publishergot segment collision_supports_009 +189.68sINFOrobot_state_publishergot segment collision_supports_010 +189.68sINFOrobot_state_publishergot segment collision_supports_011 +189.68sINFOrobot_state_publishergot segment collision_supports_012 +189.68sINFOrobot_state_publishergot segment collision_supports_013 +189.68sINFOrobot_state_publishergot segment collision_supports_014 +189.68sINFOrobot_state_publishergot segment collision_supports_015 +189.68sINFOrobot_state_publishergot segment collision_vacuum_base +189.68sINFOrobot_state_publishergot segment collision_vacuum_suction_cups +189.68sINFOrobot_state_publishergot segment flange +189.68sINFOrobot_state_publishergot segment forearm_link +189.68sINFOrobot_state_publishergot segment forearm_pinch_link +189.68sINFOrobot_state_publishergot segment front_cover_link +189.68sINFOrobot_state_publishergot segment front_left_wheel_link +189.68sINFOrobot_state_publishergot segment front_lights_link +189.68sINFOrobot_state_publishergot segment front_right_wheel_link +189.68sINFOrobot_state_publishergot segment front_rocker_link +189.68sINFOrobot_state_publishergot segment ft_frame +189.68sINFOrobot_state_publishergot segment grasp_link +189.68sINFOrobot_state_publishergot segment ham_assem_link +189.68sINFOrobot_state_publishergot segment imu_link +189.68sINFOrobot_state_publishergot segment left_side_cover_link +189.68sINFOrobot_state_publishergot segment mid_mount +189.68sINFOrobot_state_publishergot segment rear_cover_link +189.68sINFOrobot_state_publishergot segment rear_left_wheel_link +189.68sINFOrobot_state_publishergot segment rear_lights_link +189.68sINFOrobot_state_publishergot segment rear_right_wheel_link +189.68sINFOrobot_state_publishergot segment rear_rocker_link +189.68sINFOrobot_state_publishergot segment ridgeback_base_link +189.68sINFOrobot_state_publishergot segment right_side_cover_link +189.68sINFOrobot_state_publishergot segment riser_link +189.68sINFOrobot_state_publishergot segment shoulder_link +189.68sINFOrobot_state_publishergot segment tool0 +189.68sINFOrobot_state_publishergot segment top_link +189.68sINFOrobot_state_publishergot segment upper_arm_link +189.68sINFOrobot_state_publishergot segment ur_mount_point +189.68sINFOrobot_state_publishergot segment vacuum_base +189.68sINFOrobot_state_publishergot segment virtual_rail_link_1 +189.68sINFOrobot_state_publishergot segment virtual_rail_link_2 +189.68sINFOrobot_state_publishergot segment visual_mesh +189.68sINFOrobot_state_publishergot segment world +189.68sINFOrobot_state_publishergot segment wrist_1_link +189.68sINFOrobot_state_publishergot segment wrist_2_link +189.68sINFOrobot_state_publishergot segment wrist_3_link +189.68sINFOrobot_state_publishergot segment wrist_3_pinch_link +189.70sINFOwaypoint_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. +189.71sINFOwaypoint_followerCreating +189.72sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +189.72sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libvelocity_smoother_core.so +189.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +189.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +189.74sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state" +189.74sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/scan_front" +189.74sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state"[0m +189.74sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/scan_front"[0m +189.75sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_joint" +189.75sINFOvelocity_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. +189.75sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_joint"[0m +189.76sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" +189.76sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m +189.76sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_end_effector" +189.76sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/scan_rear_filtered" +189.76sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/scan_rear" +189.76sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/map_server/transition_event" +189.76sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planner_server/transition_event" +189.76sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/local_costmap/local_costmap/transition_event" +189.77sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_end_effector"[0m +189.77sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/scan_rear_filtered"[0m +189.77sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/scan_rear"[0m +189.77sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/map_server/transition_event"[0m +189.77sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planner_server/transition_event"[0m +189.77sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/local_costmap/local_costmap/transition_event"[0m +189.78sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf" +189.78sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf"[0m +189.78sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +189.78sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +189.79sINFOlifecycle_manager_navigationCreating +189.80sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/diagnostics" +189.80sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_server/transition_event" +189.80sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/agent_interface/move_joint" +189.80sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/tf_static" +189.80sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/diagnostics"[0m +189.80sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +189.80sINFOmap_serverActivating +189.80sINFOmap_serverCreating bond (map_server) to lifecycle manager. +189.80sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_server/transition_event"[0m +189.80sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/agent_interface/move_joint"[0m +189.80sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +189.80sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/tf_static"[0m +189.80sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/rosout" +189.80sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/rosout"[0m +189.83sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/parameter_events" +189.83sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_end_effector" +189.83sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +189.83sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +189.83sINFOcontroller_serverConfiguring controller interface +189.83sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/parameter_events"[0m +189.83sINFOcontroller_servergetting goal checker plugins.. +189.83sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_end_effector"[0m +189.83sINFOcontroller_serverController frequency set to 20.0000Hz +189.83sINFOlocal_costmap.local_costmapConfiguring +189.85sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +189.87sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +189.87sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +189.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +189.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +189.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +189.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +189.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +189.89sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +189.90sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +189.90sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +189.90sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +189.91sINFOlifecycle_manager_localizationServer map_server connected with bond. +189.91sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +189.91sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +189.91sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +189.91sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +189.92sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +189.94sWARNlaser_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. +189.95sWARNlaser_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. +189.95sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +189.96sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +189.97sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +189.97sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +189.99sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +190.00sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +190.00sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +190.01sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +190.01sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +190.02sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +190.02sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +190.02sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, and 0.500000 angular threshold. +190.02sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +190.03sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +190.03sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +190.04sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +190.06sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Reversing allowed. +190.06sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +190.07sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +190.07sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +190.08sINFOcontroller_serverOptimizer reset +190.12sINFOcontroller_serverController Server has FollowPath controllers available. +190.17sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +190.17sINFOsmoother_serverConfiguring smoother server +190.19sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +190.19sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +190.22sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +190.22sINFOplanner_serverConfiguring +190.22sINFOglobal_costmap.global_costmapConfiguring +190.24sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +190.27sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +190.27sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +190.27sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +190.29sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +190.29sINFOmove_groupLoaded robot model in 0.803995 seconds[0m +190.32sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +190.32sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +190.33sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +190.34sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1008 X 1310 at 0.050000 m/pix +190.35sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner +190.35sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +190.36sINFOplanner_serverPlanner Server has GridBased planners available. +190.39sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +190.39sINFObehavior_serverConfiguring +190.42sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors/Spin +190.43sINFObehavior_serverConfiguring spin +190.47sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors/BackUp +190.48sINFObehavior_serverConfiguring backup +190.50sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading +190.51sINFObehavior_serverConfiguring drive_on_heading +190.52sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +190.54sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop +190.55sINFObehavior_serverConfiguring assisted_teleop +190.59sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors/Wait +190.60sINFObehavior_serverConfiguring wait +190.62sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +190.62sINFObt_navigatorConfiguring +190.64sINFOwaypoint_manager_nodeLoaded robot model in 0.540997 seconds[0m +190.64sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +190.92sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +191.01sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +191.01sINFOwaypoint_followerConfiguring +191.03sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +191.05sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +191.05sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +191.06sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +191.06sINFOvelocity_smootherConfiguring velocity smoother +191.08sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +191.10sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +191.10sINFOcontroller_serverActivating +191.10sINFOlocal_costmap.local_costmapActivating +191.10sINFOlocal_costmap.local_costmapChecking transform +191.10sINFOlocal_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 +191.18sINFOros2_control_node#14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55e208965ec4, in +191.18sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +191.18sINFOros2_control_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff3adb40e3f, in __libc_start_main +191.18sINFOros2_control_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff3adb40d8f, in +191.18sINFOros2_control_node#11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55e20896536f, in +191.19sINFOros2_control_node#10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7ff3ae25d48a, 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&) +191.19sINFOros2_control_node#9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7ff3ae25843f, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) +191.19sINFOros2_control_node#8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7ff3ada0f334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) +191.19sINFOros2_control_node#7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7ff3ad9eb723, in +191.19sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7ff3ade104d7, in __cxa_throw +191.19sINFOros2_control_node#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7ff3ade10276, in std::terminate() +191.19sINFOros2_control_node#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7ff3ade1020b, in +191.19sINFOros2_control_node#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7ff3ade04b9d, in +191.19sINFOros2_control_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff3adb3f7f2, in abort +191.19sINFOros2_control_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff3adb59475, in raise +191.19sINFOros2_control_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff3adbad9fc, in pthread_kill +191.19sERRORros2_control_nodeAborted (Signal sent by tkill() 24302 0) +191.24sERRORros2_control_node-8process has died [pid 24302, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_u1i5me50 --params-file /tmp/launch_params_viivq0gl --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_0kxifhwg --params-file /tmp/launch_params_trqouuao']. +191.25sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +191.29sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +191.33sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +191.37sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +191.96sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers +192.00sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/velocity_smoother/transition_event" +192.00sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/velocity_smoother/transition_event"[0m +192.00sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/transformed_global_plan" +192.00sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/transformed_global_plan"[0m +192.02sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/trajectories" +192.02sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/trajectories"[0m +192.02sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/robot_description" +192.02sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/robot_description"[0m +192.02sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped" +192.02sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene" +192.07sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/odom_reliable" +192.07sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/odom" +192.07sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/plan_smoothed" +192.07sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robot_description_semantic" +192.07sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/odom_reliable"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/odom"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/plan_smoothed"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robot_description_semantic"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/moveit_pro_ui/do_teleoperate/result" +192.07sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/plan" +192.07sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/moveit_pro_ui/do_teleoperate/goal" +192.07sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/moveit_pro_ui/do_teleoperate/feedback" +192.07sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/moveit_pro_ui/do_teleoperate/cancel" +192.07sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/moveit_pro_ui/do_teleoperate/result"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/monitored_planning_scene" +192.07sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/plan"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m +192.07sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/monitored_planning_scene"[0m +192.08sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/preempt_teleop" +192.08sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/preempt_teleop"[0m +192.08sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/local_costmap/published_footprint" +192.08sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/local_costmap/published_footprint"[0m +192.08sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/planning_scene_world" +192.08sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/planning_scene_world"[0m +192.08sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers +192.08sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/local_costmap/footprint" +192.08sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/local_costmap/footprint"[0m +192.08sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/local_costmap/costmap_updates" +192.09sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/local_costmap/costmap_updates"[0m +192.09sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/local_costmap/costmap" +192.09sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/local_costmap/costmap"[0m +192.09sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_states" +192.09sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_states"[0m +192.09sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/imu_sensor_broadcaster/imu_reliable" +192.09sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/map" +192.09sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/imu_sensor_broadcaster/imu" +192.09sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/global_costmap/published_footprint" +192.09sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/global_costmap/global_costmap/transition_event" +192.09sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/footprint" +192.09sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/global_costmap/costmap_updates" +192.09sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/imu_sensor_broadcaster/imu_reliable"[0m +192.09sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/map"[0m +192.09sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/imu_sensor_broadcaster/imu"[0m +192.09sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/global_costmap/published_footprint"[0m +192.09sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/global_costmap/global_costmap/transition_event"[0m +192.09sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/footprint"[0m +192.09sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers +192.10sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/global_costmap/costmap_updates"[0m +192.10sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/speed_limit" +192.10sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/speed_limit"[0m +192.10sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/global_costmap/costmap_raw" +192.10sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/local_costmap/costmap_raw" +192.10sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/global_costmap/costmap" +192.10sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/global_costmap/costmap_raw"[0m +192.10sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/local_costmap/costmap_raw"[0m +192.10sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/global_costmap/costmap"[0m +192.11sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/collision_object" +192.11sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/waypoint_follower/transition_event" +192.11sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/cmd_vel_teleop" +192.11sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/cmd_vel_nav" +192.11sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/cmd_vel" +192.11sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/bt_navigator/transition_event" +192.11sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/collision_object"[0m +192.11sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/waypoint_follower/transition_event"[0m +192.11sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/cmd_vel_teleop"[0m +192.11sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/cmd_vel_nav"[0m +192.11sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/cmd_vel"[0m +192.11sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/bt_navigator/transition_event"[0m +192.11sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/bond" +192.11sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/behavior_server/transition_event" +192.11sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/bond"[0m +192.11sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/behavior_server/transition_event"[0m +192.11sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/attached_collision_object" +192.11sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/goal_pose" +192.19sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers +192.24sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers +192.34sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers +192.43sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers +192.50sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers +192.50sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers +192.51sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers +192.54sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +192.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +192.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +192.57sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +192.59sINFOobjective_server_node[2026-06-03 13:57:21.100] [moveit_pro_license] [info] +192.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +192.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +192.87sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/statistics" +192.87sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/failure_reason_collector" +192.88sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/description" +192.93sINFOobjective_server_nodeLoaded robot model in 0.307301 seconds[0m +193.48sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/visual_markers" +193.48sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/blackboard_contents" +193.48sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/behavior_tree_status" +194.85sINFOcomponent_container_mtLoaded robot model in 2.11797 seconds[0m +195.58sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/transient_monitored_planning_scene_without_octomap" +196.40sINFOmove_groupMoveGroup debug mode is ON +196.61sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"
! 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	—	reset_planning_scene.xml	5.0s	1 warning · 60 info
+ 0.00sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON + 0.00sINFOmove_groupTrajectory execution is managing controllers[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON[0m + 0.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×4 + 0.18sINFOmove_group******************************************************** ×2 + 0.18sINFOmove_group* MoveGroup using: + 0.18sINFOmove_group* - apply_planning_scene_service + 0.18sINFOmove_group* - clear_octomap_service + 0.18sINFOmove_group* - ExecuteTaskSolution + 0.18sINFOmove_group* - get_group_urdf + 0.18sINFOmove_group* - load_geometry_from_file + 0.18sINFOmove_group* - get_planning_scene_service + 0.18sINFOmove_group* - kinematics_service + 0.18sINFOmove_group* - save_geometry_to_file + 0.18sINFOmove_group* - GetPlanningGroups + 0.18sINFOmove_group* - SetActiveControllerService + 0.18sINFOmove_group* - URDFPlanningSceneCapability + 0.18sINFOmove_group[0m + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.20sINFOlocal_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 + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m
! 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	7.2s	640 errors · 24 warnings · 12762 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/2026-06-03-14-00-02-654206-dd7a22b64b99-25090 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.74sINFOros2_control_node-1process started with pid [25120] + 1.74sINFOmove_group-9process started with pid [25139] + 1.74sINFOparameter_manager_node-10process started with pid [25142] + 1.74sINFOwaypoint_manager_node-11process started with pid [25181] + 1.74sINFOmove_joint_resampler_node-12process started with pid [25183] + 1.74sINFOmove_end_effector_resampler_node-13process started with pid [25185] + 1.74sINFOobjective_server_node_main-14process started with pid [25187] + 1.74sINFOcomponent_container_mt-15process started with pid [25189] + 1.74sINFOexecute_objective_bridge-16process started with pid [25191] + 1.74sINFOui_teleop_bridge-17process started with pid [25193] + 1.74sINFOfoxglove_bridge-18process started with pid [25195] + 1.74sINFOtf2_web_republisher_node-19process started with pid [25197] + 1.74sINFOweb_video_server-20process started with pid [25199] + 1.74sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25122] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25124] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25126] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25128] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25130] + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25133] + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25136] + 1.79sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m ×2 + 1.79sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.85sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.08sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m ×2 + 2.10sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.16sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf"[0m + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.16sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.16sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout"[0m + 2.17sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m + 2.18sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat"[0m + 2.19sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/store_joint_state"[0m + 2.19sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf_static"[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/robot_description"[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/move_joint"[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/agent_interface/move_joint"[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector"[0m + 2.63sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 2.63sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 2.63sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.99sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.31sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic"[0m + 3.34sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world"[0m + 3.36sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene"[0m + 3.37sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 4.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.26sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.26sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.26sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.26sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.26sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.26sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.27sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.27sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.27sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.28sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.28sINFOobjective_server_node[2026-06-03 14:00:07.643] [moveit_pro_license] [info] + 4.28sINFOobjective_server_node************************************************* ×6 + 4.28sINFOobjective_server_node* MoveIt Pro License ×3 + 4.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.47sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[93mController already loaded, skipping load_controller[0m + 4.47sERRORros2_control_nodeThe 'type' param was not defined for 'imu_sensor_broadcaster'.[0m + 4.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 4.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 4.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m ×2 + 4.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 4.59sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 4.60sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 4.61sERRORros2_control_nodeA controller named 'joint_velocity_controller' was already loaded inside the controller manager[0m + 4.61sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller_nav2'.[0m + 4.61sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 4.61sFATALros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[91mFailed loading controller [1mjoint_velocity_controller[0m + 4.61sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/velocity_force_controller/transition_event"[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 4.63sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 4.63sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/color"[0m + 4.63sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/depth"[0m + 4.63sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_velocity_controller/transition_event"[0m + 4.63sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 4.63sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/failure_reason_collector"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/description"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m ×2 + 4.66sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m ×2 + 4.66sERRORros2_control_nodeA controller named 'joint_trajectory_controller' was already loaded inside the controller manager[0m + 4.66sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_joint_velocity_controller'.[0m + 4.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m ×2 + 4.66sERRORros2_control_nodeA controller named 'joint_state_broadcaster' was already loaded inside the controller manager[0m + 4.66sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m ×3 + 4.66sFATALros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[91mFailed loading controller [1mjoint_state_broadcaster[0m + 4.69sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.69sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.72sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.72sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.72sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.72sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.72sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.72sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.72sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.72sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.73sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×7 + 4.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.76sINFOros2_control_node[2026-06-03 14:00:08.122] [info] Controller state will be published at 10 Hz. + 4.76sINFOros2_control_node[2026-06-03 14:00:08.124] [info] VelocityForceController 'on_configure' succeeded. + 4.77sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.79sERRORros2_control_nodeThe 'type' param was not defined for 'vacuum_gripper'.[0m + 4.79sERRORros2_control_nodeA controller named 'force_torque_sensor_broadcaster' was already loaded inside the controller manager[0m + 4.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m ×2 + 4.80sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_velocity_force_controller'.[0m + 4.87sINFOros2_control_node[2026-06-03 14:00:08.227] [info] Controller state will be published at 10 Hz. + 4.87sINFOros2_control_node[2026-06-03 14:00:08.233] [info] VelocityForceController 'on_configure' succeeded. + 4.88sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[ros2run]: Process exited with failure 1 + 4.94sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has died [pid 25136, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. + 4.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 + 5.01sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller'.[0m + 5.01sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m ×2 + 5.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m ×2 + 5.03sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has died [pid 25126, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. + 5.06sINFOros2_control_node[2026-06-03 14:00:08.424] [info] Controller state will be published at 20 Hz. + 5.07sINFOros2_control_node[2026-06-03 14:00:08.426] [info] JointVelocityController 'on_configure' succeeded. + 5.07sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.07sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 5.07sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 5.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 5.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 5.07sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 5.08sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m ×2 + 5.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.08sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m ×2 + 5.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.09sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m ×2 + 5.09sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.09sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.10sINFOros2_control_node[2026-06-03 14:00:08.455] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 5.10sINFOros2_control_node[2026-06-03 14:00:08.455] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 5.11sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 5.11sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 25133] + 5.14sINFOros2_control_node[2026-06-03 14:00:08.495] [info] First order lag filter time constant set to: 0.2 seconds + 5.14sINFOros2_control_node[2026-06-03 14:00:08.495] [info] Controller state will be published at 50 Hz. + 5.14sINFOros2_control_node[2026-06-03 14:00:08.503] [info] Registered `FollowJointTrajectory` action server. + 5.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m ×2 + 5.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m ×2 + 5.17sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m ×2 + 5.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.27sINFOobjective_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 + 5.27sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 5.28sINFOmove_group ×4 + 5.28sINFOmove_group[92mYou can start planning now![0m ×2 + 5.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25130] + 5.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 25122] + 5.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25128] + 5.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25124] + 5.57sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/command"[0m + 5.57sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/trajectory_execution_event"[0m + 5.57sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/robotiq_gripper_controller/transition_event"[0m + 5.57sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/velocity_force_controller/controller_state"[0m + 5.58sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 5.58sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/controller_state"[0m + 5.58sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_velocity_controller/command"[0m + 5.58sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/transition_event"[0m + 5.58sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 5.60sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/visual_markers"[0m + 5.60sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/controller_state"[0m + 5.60sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 5.60sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 5.61sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 5.61sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/state"[0m + 5.61sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/dynamic_joint_states"[0m ×2 + 5.61sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/blackboard_contents"[0m ×2 + 5.61sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/behavior_tree_status"[0m ×2 + 5.61sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 6.14sWARNobjective_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 + 6.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×41 + 6.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×43 + 6.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495210.20000982 seconds. + 6.85sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m ×2 + 6.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495210.21022487 seconds + 7.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495210.75836444 seconds. + 7.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×20 + 7.88sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 8.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495211.81852102 seconds + 9.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495212.40000248 seconds. + 10.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495213.41014695 seconds + 10.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495213.97690821 seconds. + 10.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495213.99703431 seconds + 11.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495214.54982758 seconds. + 11.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495214.70047951 seconds + 12.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495215.37292004 seconds. + 12.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 12.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 12.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 12.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495215.41310000 seconds + 12.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495215.97888041 seconds. + 12.63sINFOobjective_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 + 12.75sINFOobjective_server_nodeFound path in 0 iterations (1.691e-05 s). + 12.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×5 + 12.76sINFOros2_control_node[2026-06-03 14:00:16.124] [info] Received new action goal + 12.76sINFOros2_control_node[2026-06-03 14:00:16.124] [info] Accepted new action goal + 14.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.57% of iterations over budget over 0:10.002 of wall time (18/3149). Below 1% is expected on a non-realtime system.[0m + 15.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×35 + 15.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×3 + 15.29sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 15.30sINFOros2_control_node[2026-06-03 14:00:18.663] [info] Received new action goal + 15.30sINFOros2_control_node[2026-06-03 14:00:18.663] [info] Accepted new action goal + 19.03sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 19.05sINFOros2_control_node[2026-06-03 14:00:22.413] [info] Received new action goal + 19.05sINFOros2_control_node[2026-06-03 14:00:22.413] [info] Accepted new action goal + 22.38sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×3 + 22.38sINFOobjective_server_nodePath shortcutter: [X_________________X] ×3 + 22.39sINFOros2_control_node[2026-06-03 14:00:25.753] [info] Received new action goal + 22.39sINFOros2_control_node[2026-06-03 14:00:25.753] [info] Accepted new action goal + 22.83sINFOros2_control_node[2026-06-03 14:00:26.189] [info] Got request to cancel active goal. + 22.83sINFOros2_control_node[2026-06-03 14:00:26.189] [info] Canceling active goal... + 22.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495226.20481801 seconds + 23.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495226.76214075 seconds. + 23.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495226.88231015 seconds + 24.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495227.51333141 seconds. + 24.51sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 25.48sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×7 + 25.48sINFOobjective_server_nodePath shortcutter: [X______X] ×6 + 25.49sINFOros2_control_node[2026-06-03 14:00:28.847] [info] Received new action goal + 25.49sINFOros2_control_node[2026-06-03 14:00:28.847] [info] Accepted new action goal + 57.50sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. + 57.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780495260.85765910 seconds + 58.21sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495261.57413435 seconds. + 58.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495261.62437606 seconds + 58.85sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495262.21181488 seconds. + 58.98sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 58.98sINFOobjective_server_nodePath shortcutter: [X_____________X] + 58.99sINFOros2_control_node[2026-06-03 14:01:02.354] [info] Received new action goal + 59.00sINFOros2_control_node[2026-06-03 14:01:02.354] [info] Accepted new action goal + 59.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 62.36sINFOros2_control_node[2026-06-03 14:01:05.716] [info] Received new action goal + 62.36sINFOros2_control_node[2026-06-03 14:01:05.716] [info] Accepted new action goal + 64.69sINFOros2_control_node[2026-06-03 14:01:08.053] [info] Received new action goal + 64.69sINFOros2_control_node[2026-06-03 14:01:08.053] [info] Accepted new action goal + 67.03sINFOros2_control_node[2026-06-03 14:01:10.393] [info] Received new action goal + 67.03sINFOros2_control_node[2026-06-03 14:01:10.393] [info] Accepted new action goal + 69.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495272.72421479 seconds + 69.99sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495273.34633589 seconds. + 70.17sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×3 + 70.18sINFOros2_control_node[2026-06-03 14:01:13.541] [info] Received new action goal + 70.18sINFOros2_control_node[2026-06-03 14:01:13.541] [info] Accepted new action goal + 70.37sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 70.37sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m + 74.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.47% of iterations over budget over 1:10.005 of wall time (102/21556). Below 1% is expected on a non-realtime system.[0m + 80.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780495283.68156075 seconds + 80.88sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780495284.24008870 seconds. + 80.95sINFOfoxglove_bridgeRemoving channel 58 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 81.09sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 81.10sINFOros2_control_node[2026-06-03 14:01:24.464] [info] Received new action goal + 81.10sINFOros2_control_node[2026-06-03 14:01:24.464] [info] Accepted new action goal + 91.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780495294.68035650 seconds + 91.88sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780495295.23960733 seconds. + 92.01sINFOobjective_server_nodePath shortcutter: [X________X] ×3 + 92.03sINFOros2_control_node[2026-06-03 14:01:35.386] [info] Received new action goal + 92.03sINFOros2_control_node[2026-06-03 14:01:35.386] [info] Accepted new action goal + 92.03sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 94.46sINFOros2_control_node[2026-06-03 14:01:37.823] [info] Received new action goal + 94.46sINFOros2_control_node[2026-06-03 14:01:37.823] [info] Accepted new action goal +103.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780495306.39202857 seconds +103.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495306.95096278 seconds. +103.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 +103.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 +103.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495307.04120708 seconds +104.39sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495307.74481726 seconds. +104.49sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). +104.51sINFOros2_control_node[2026-06-03 14:01:47.866] [info] Received new action goal +104.51sINFOros2_control_node[2026-06-03 14:01:47.866] [info] Accepted new action goal +106.52sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495309.87528038 seconds +107.08sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495310.43361473 seconds. +107.13sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/moveit_pro_ui/switch_primary_view"[0m +107.20sINFOros2_control_node[2026-06-03 14:01:50.557] [info] Received new action goal +107.20sINFOros2_control_node[2026-06-03 14:01:50.558] [info] Accepted new action goal +114.36sERRORobjective_server_nodeGetImage Error: Failed to get next message on topic '/wrist_camera/color': Timed out after 5 seconds. +114.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Find Objects on Table` did not succeed at time: 1780495317.72376204 seconds +114.97sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495318.32588816 seconds. +115.18sINFOfoxglove_bridgeRemoving channel 60 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m +116.11sINFOobjective_server_node[0;93m2026-06-03 14:01:59.471975805 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +116.11sINFOobjective_server_node[0;93m2026-06-03 14:01:59.472012596 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +116.68sINFOobjective_server_node[0;93m2026-06-03 14:02:00.036343783 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +116.68sINFOobjective_server_node[0;93m2026-06-03 14:02:00.036379174 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +116.82sINFOobjective_server_node[0;93m2026-06-03 14:02:00.176866275 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +116.82sINFOobjective_server_node[0;93m2026-06-03 14:02:00.179493003 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +116.82sINFOobjective_server_node[0;93m2026-06-03 14:02:00.179532083 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +117.15sINFOobjective_server_node[0;93m2026-06-03 14:02:00.512523614 [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 +117.17sINFOobjective_server_node[0;93m2026-06-03 14:02:00.525670333 [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 +117.17sINFOobjective_server_node[0;93m2026-06-03 14:02:00.525701304 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +118.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495321.96744418 seconds +118.71sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/masks_visualization"[0m +119.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495322.60403824 seconds. +119.33sINFOobjective_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 +119.33sINFOobjective_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 +119.60sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +119.61sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 +119.63sINFOros2_control_node[2026-06-03 14:02:02.993] [info] Received new action goal +119.63sINFOros2_control_node[2026-06-03 14:02:02.993] [info] Accepted new action goal +119.72sINFOfoxglove_bridgeRemoving channel 61 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +119.72sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m +122.51sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +122.52sINFOros2_control_node[2026-06-03 14:02:05.878] [info] Received new action goal +122.52sINFOros2_control_node[2026-06-03 14:02:05.878] [info] Accepted new action goal +125.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 +125.69sINFOros2_control_node[2026-06-03 14:02:09.048] [info] Received new action goal +125.69sINFOros2_control_node[2026-06-03 14:02:09.048] [info] Accepted new action goal +128.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×3 +128.73sINFOros2_control_node[2026-06-03 14:02:12.092] [info] Received new action goal +128.73sINFOros2_control_node[2026-06-03 14:02:12.092] [info] Accepted new action goal +131.70sINFOobjective_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 ×6 +134.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 2:10.008 of wall time (202/39895). Below 1% is expected on a non-realtime system.[0m +138.46sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 +139.41sINFOros2_control_node[2026-06-03 14:02:22.768] [info] Received new action goal +139.41sINFOros2_control_node[2026-06-03 14:02:22.768] [info] Accepted new action goal +140.56sINFOobjective_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 +140.57sINFOobjective_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 +140.86sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 +140.88sINFOros2_control_node[2026-06-03 14:02:24.241] [info] Received new action goal +140.88sINFOros2_control_node[2026-06-03 14:02:24.241] [info] Accepted new action goal +143.01sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +143.01sINFOobjective_server_nodePath shortcutter: [X__________X] +143.02sINFOros2_control_node[2026-06-03 14:02:26.379] [info] Received new action goal +143.02sINFOros2_control_node[2026-06-03 14:02:26.379] [info] Accepted new action goal +146.12sINFOros2_control_node[2026-06-03 14:02:29.478] [info] Received new action goal +146.12sINFOros2_control_node[2026-06-03 14:02:29.478] [info] Accepted new action goal +148.73sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×3 +148.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 +148.76sINFOros2_control_node[2026-06-03 14:02:32.121] [info] Received new action goal +148.76sINFOros2_control_node[2026-06-03 14:02:32.121] [info] Accepted new action goal +159.45sINFOros2_control_node[2026-06-03 14:02:42.807] [info] Received new action goal +159.45sINFOros2_control_node[2026-06-03 14:02:42.807] [info] Accepted new action goal +160.60sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780495363.96428180 seconds +161.43sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780495364.79206848 seconds. +161.66sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +162.65sINFOobjective_server_nodePath shortcutter: [X__________________________X] +162.67sINFOros2_control_node[2026-06-03 14:02:46.027] [info] Received new action goal +162.67sINFOros2_control_node[2026-06-03 14:02:46.027] [info] Accepted new action goal +168.76sINFOobjective_server_nodePath shortcutter: [X________________________X] +168.77sINFOros2_control_node[2026-06-03 14:02:52.127] [info] Received new action goal +168.77sINFOros2_control_node[2026-06-03 14:02:52.127] [info] Accepted new action goal +172.37sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780495375.73229313 seconds +172.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495376.29280496 seconds. +173.10sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). +173.11sINFOobjective_server_nodePath shortcutter: [X___X] ×2 +173.12sINFOros2_control_node[2026-06-03 14:02:56.476] [info] Received new action goal +173.12sINFOros2_control_node[2026-06-03 14:02:56.476] [info] Accepted new action goal +173.26sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_event"[0m +174.40sINFOobjective_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 ×3 +174.41sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 +177.40sINFOros2_control_nodeReceived new action goal[0m ×5255 +177.40sINFOros2_control_nodeAccepted new action goal[0m ×4662 +181.47sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×7 +181.57sINFOros2_control_nodeGoal reached, success![0m ×1713 +194.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.67% of iterations over budget over 3:10.009 of wall time (392/58102). Below 1% is expected on a non-realtime system.[0m +214.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495417.463395)[0m +214.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495417.523395)[0m +214.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495417.863394)[0m +214.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495418.023395)[0m +214.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495418.203395)[0m +214.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495418.213394)[0m +214.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495418.223395)[0m +214.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495418.233394)[0m +215.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495418.623394)[0m +215.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495418.893394)[0m +215.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495418.903394)[0m +215.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495419.013394)[0m +215.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495419.023395)[0m +216.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495419.463395)[0m +216.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495419.523395)[0m +216.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495419.683395)[0m +216.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495419.703395)[0m ×2 +216.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495419.943395)[0m +216.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495420.113394)[0m +216.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495420.15419674 seconds +216.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495415.363394) that ends in the past (1780495420.173394)[0m +217.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495420.75785780 seconds. +217.56sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 +217.57sINFOros2_control_node[2026-06-03 14:03:40.932] [info] Received new action goal +217.57sINFOros2_control_node[2026-06-03 14:03:40.932] [info] Accepted new action goal +225.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495428.682070)[0m +225.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495428.882070)[0m +225.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495428.892070)[0m +225.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495428.902070)[0m +225.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495428.912070)[0m +225.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495428.932070)[0m +225.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495429.322070)[0m +225.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495429.342070)[0m +226.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495429.582070)[0m +226.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495429.732070)[0m +226.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495430.122070)[0m ×2 +226.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495430.312070)[0m +227.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495430.352070)[0m +227.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495430.362070)[0m +227.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495430.972070)[0m +227.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.032070)[0m +227.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.122070)[0m +227.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.142070)[0m +227.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.172070)[0m +227.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.192070)[0m +228.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.462070)[0m +228.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.502070)[0m +228.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.512070)[0m +228.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.572070)[0m +228.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.762070)[0m +228.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.782070)[0m +228.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.792070)[0m +228.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.812070)[0m +228.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495431.992070)[0m +228.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.142070)[0m +228.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.222070)[0m +228.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.232070)[0m +228.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.342070)[0m +229.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.372070)[0m +229.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.422070)[0m +229.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.462070)[0m +229.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.472070)[0m +229.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.612070)[0m +229.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.622070)[0m +229.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.942070)[0m +229.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495432.952070)[0m +229.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.012070)[0m +229.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.032070)[0m +229.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.202070)[0m +229.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.222070)[0m +229.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.242070)[0m +230.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.402070)[0m +230.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.432070)[0m +230.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.442070)[0m +230.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.532070)[0m +230.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.582070)[0m +230.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.612070)[0m +230.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.662070)[0m +230.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.712070)[0m +230.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.762070)[0m +230.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.802070)[0m +230.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.832070)[0m +230.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.862070)[0m ×2 +230.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.962070)[0m +230.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495433.972070)[0m +230.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.032070)[0m +230.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.222070)[0m +230.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.282070)[0m +230.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.302070)[0m +231.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.402070)[0m +231.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.432070)[0m +231.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.452070)[0m +231.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.622070)[0m +231.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.642070)[0m +231.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.652070)[0m +231.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.662070)[0m +231.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.672070)[0m +231.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495434.992070)[0m +231.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.042070)[0m +231.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.072070)[0m ×2 +231.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.192070)[0m +231.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.232070)[0m +231.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.272070)[0m +231.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.302070)[0m +232.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.412070)[0m +232.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.422070)[0m +232.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.482070)[0m +232.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.712070)[0m +232.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.762070)[0m +232.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.782070)[0m +232.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.792070)[0m +232.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.902070)[0m +232.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.912070)[0m +232.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.942070)[0m +232.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495435.972070)[0m ×2 +232.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.112070)[0m +232.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.132070)[0m ×2 +232.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.142070)[0m +232.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.342070)[0m +232.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.352070)[0m +233.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.402070)[0m ×2 +233.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.512070)[0m +233.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.552070)[0m +233.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.572070)[0m +233.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.642070)[0m +233.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.662070)[0m +233.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.712070)[0m +233.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.782070)[0m +233.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.802070)[0m +233.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.842070)[0m ×2 +233.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.902070)[0m +233.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.922070)[0m +233.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.932070)[0m +233.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495436.982070)[0m +233.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.102070)[0m +233.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.132070)[0m +233.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.242070)[0m +233.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.252070)[0m +233.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.282070)[0m +233.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.312070)[0m +234.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.432070)[0m +234.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.452070)[0m +234.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.482070)[0m +234.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.492070)[0m +234.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.622070)[0m +234.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.632070)[0m +234.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.652070)[0m +234.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.662070)[0m +234.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.672070)[0m +234.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.882070)[0m +234.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.902070)[0m +234.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.922070)[0m +234.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495437.932070)[0m +234.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.012070)[0m +234.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.032070)[0m +234.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.092070)[0m +234.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.102070)[0m +234.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.162070)[0m +234.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.192070)[0m +234.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.212070)[0m +234.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.292070)[0m +234.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.312070)[0m +234.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.342070)[0m +235.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.352070)[0m +235.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.362070)[0m +235.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.452070)[0m +235.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.462070)[0m +235.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.492070)[0m +235.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.502070)[0m +235.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.622070)[0m +235.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.772070)[0m +235.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.802070)[0m +235.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.832070)[0m ×2 +235.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.932070)[0m +235.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.972070)[0m +235.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495438.982070)[0m +235.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.132070)[0m +235.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.162070)[0m ×2 +235.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.182070)[0m +236.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.412070)[0m +236.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.512070)[0m +236.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.582070)[0m +236.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.592070)[0m +236.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.602070)[0m +236.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.652070)[0m +236.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.692070)[0m +236.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.782070)[0m +236.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.812070)[0m +236.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.822070)[0m +236.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.842070)[0m +236.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.912070)[0m +236.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.922070)[0m +236.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.942070)[0m +236.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495439.982070)[0m +236.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.082070)[0m +236.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.102070)[0m +236.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.122070)[0m +236.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.272070)[0m +236.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.302070)[0m +236.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.312070)[0m +236.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.322070)[0m +237.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.402070)[0m +237.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.422070)[0m ×2 +237.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.472070)[0m +237.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.482070)[0m +237.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.632070)[0m ×2 +237.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.652070)[0m +237.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.672070)[0m +237.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.712070)[0m +237.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.902070)[0m +237.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.972070)[0m +237.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495440.992070)[0m +237.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.032070)[0m +237.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.052070)[0m +237.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.072070)[0m +237.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.112070)[0m +237.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.272070)[0m +237.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.292070)[0m +237.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.312070)[0m +238.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.372070)[0m +238.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.402070)[0m +238.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.432070)[0m +238.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.452070)[0m +238.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.702070)[0m +238.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.722070)[0m +238.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.752070)[0m +238.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.772070)[0m +238.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.872070)[0m +238.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.882070)[0m +238.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.892070)[0m +238.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.922070)[0m +238.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495441.942070)[0m +238.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.092070)[0m +238.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.102070)[0m +238.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.112070)[0m ×2 +238.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.132070)[0m +238.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.172070)[0m +239.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.462070)[0m +239.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.482070)[0m +239.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.522070)[0m ×2 +239.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.552070)[0m +239.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.602070)[0m ×2 +239.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.672070)[0m +239.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.742070)[0m +239.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.772070)[0m +239.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.792070)[0m +239.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.802070)[0m +239.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.872070)[0m +239.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.882070)[0m +239.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.902070)[0m +239.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495442.932070)[0m +239.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.022070)[0m +239.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.042070)[0m +239.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.072070)[0m +239.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.232070)[0m +239.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.262070)[0m ×2 +239.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.292070)[0m +240.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.382070)[0m +240.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.402070)[0m ×2 +240.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.452070)[0m ×2 +240.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.612070)[0m +240.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.622070)[0m +240.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.632070)[0m +240.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.642070)[0m +240.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.652070)[0m +240.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.862070)[0m +240.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.882070)[0m +240.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495443.902070)[0m +240.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.062070)[0m +240.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.082070)[0m +240.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.132070)[0m +240.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.182070)[0m +240.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.252070)[0m +240.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.272070)[0m +240.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.302070)[0m ×2 +240.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.322070)[0m +241.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.392070)[0m +241.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.412070)[0m +241.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.422070)[0m +241.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.452070)[0m +241.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.472070)[0m +241.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.552070)[0m +241.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.572070)[0m +241.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.602070)[0m +241.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.622070)[0m +241.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.642070)[0m +241.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.792070)[0m +241.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.822070)[0m +241.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495444.86334062 seconds +241.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.902070)[0m +241.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.912070)[0m +241.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495427.612070) that ends in the past (1780495444.952070)[0m +242.10sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780495445.45787168 seconds. +242.29sINFOros2_control_node[2026-06-03 14:04:05.652] [info] Received new action goal +242.29sINFOros2_control_node[2026-06-03 14:04:05.652] [info] Accepted new action goal +242.51sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m +251.90sINFOros2_control_node[2026-06-03 14:04:15.259] [info] Received new action goal +251.90sINFOros2_control_node[2026-06-03 14:04:15.259] [info] Accepted new action goal +254.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 4:10.011 of wall time (557/76215). Below 1% is expected on a non-realtime system.[0m +255.54sINFOros2_control_node[2026-06-03 14:04:18.899] [info] Received new action goal +255.54sINFOros2_control_node[2026-06-03 14:04:18.899] [info] Accepted new action goal +259.66sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/pcd_pointcloud_captures"[0m +260.17sINFOfoxglove_bridgeRemoving channel 65 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +262.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495466.230668)[0m +262.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495466.250668)[0m ×2 +263.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495466.490668)[0m +263.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495466.500668)[0m +263.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495466.540668)[0m +263.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495466.570668)[0m ×2 +263.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495466.710668)[0m +263.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495466.940668)[0m +263.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.120668)[0m ×2 +263.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.230668)[0m +263.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.240668)[0m +263.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.270668)[0m +263.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.290668)[0m +263.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.310668)[0m +264.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.390667)[0m +264.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.610667)[0m +264.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.670667)[0m +264.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.690668)[0m ×2 +264.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.920668)[0m +264.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.930668)[0m ×2 +264.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.940668)[0m +264.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495467.990668)[0m +264.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.010668)[0m +264.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.100668)[0m +264.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.120668)[0m +264.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.140668)[0m +264.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.150667)[0m +264.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.310668)[0m +264.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.330667)[0m +265.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.350667)[0m ×2 +265.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.400668)[0m +265.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.570668)[0m +265.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.600668)[0m +265.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.670667)[0m +265.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.690668)[0m +265.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.720668)[0m +265.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.740668)[0m ×2 +265.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495468.760668)[0m +265.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.150667)[0m +265.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.180668)[0m ×2 +265.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.200668)[0m +265.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.220668)[0m ×2 +266.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.360668)[0m +266.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.370667)[0m +266.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.380668)[0m +266.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.400668)[0m +266.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.410667)[0m +266.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.480668)[0m +266.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.570668)[0m +266.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.590667)[0m +266.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.600668)[0m +266.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.610667)[0m +266.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.800668)[0m +266.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.820668)[0m +266.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.860668)[0m +266.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495469.880668)[0m +266.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.050668)[0m +266.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.070668)[0m +266.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.150667)[0m +266.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.160668)[0m +266.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.200668)[0m ×2 +266.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.220668)[0m +266.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.230668)[0m +266.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.300668)[0m +267.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.610667)[0m +267.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.630667)[0m +267.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.650667)[0m +267.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.670667)[0m ×2 +267.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.830667)[0m +267.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.840668)[0m +267.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.860668)[0m ×2 +267.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.910667)[0m +267.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495470.920668)[0m +267.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.030668)[0m +267.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.170667)[0m +267.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.240668)[0m +267.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.260668)[0m +267.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.310668)[0m +268.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.470668)[0m +268.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.490668)[0m +268.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.500668)[0m +268.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.600668)[0m +268.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.610667)[0m ×2 +268.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.650667)[0m +268.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.660668)[0m +268.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.670667)[0m +268.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.740668)[0m +268.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495471.750668)[0m +268.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.030668)[0m +268.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.050668)[0m +268.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.070668)[0m ×2 +268.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.090667)[0m +268.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.270668)[0m ×2 +268.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.280668)[0m +268.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.290668)[0m +268.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.300668)[0m +269.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.350667)[0m +269.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.590667)[0m ×2 +269.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.630667)[0m +269.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.660668)[0m +269.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.680668)[0m ×2 +269.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.760668)[0m +269.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.880668)[0m +269.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.890667)[0m +269.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495472.930668)[0m +269.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.040668)[0m ×2 +269.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.060668)[0m +269.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.080668)[0m +269.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.100668)[0m ×2 +269.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.190668)[0m +270.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.390667)[0m +270.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.490668)[0m +270.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.520668)[0m ×2 +270.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.540668)[0m +270.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.550668)[0m +270.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.560668)[0m +270.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.720668)[0m ×2 +270.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.740668)[0m +270.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.760668)[0m +270.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.800668)[0m +270.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495473.960668)[0m +270.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.090667)[0m +270.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.150667)[0m +270.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.340668)[0m +271.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.360668)[0m +271.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.380668)[0m ×2 +271.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.410667)[0m ×2 +271.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.490668)[0m +271.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.510668)[0m ×2 +271.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.550668)[0m +271.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.560668)[0m +271.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.630667)[0m +271.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.670667)[0m +271.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.690668)[0m +271.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.820668)[0m +271.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.880668)[0m +271.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495474.890667)[0m +271.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.020668)[0m +271.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.030668)[0m +271.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.040668)[0m +271.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.050668)[0m +271.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.070668)[0m +271.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.210668)[0m +271.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.220668)[0m +271.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.240668)[0m +271.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.250668)[0m ×2 +271.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.310668)[0m +272.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.680668)[0m +272.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.720668)[0m +272.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.760668)[0m +272.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.880668)[0m +272.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.920668)[0m +272.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.980668)[0m +272.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495475.990668)[0m +272.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.010668)[0m ×2 +272.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.050668)[0m ×2 +272.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.160668)[0m +272.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.330667)[0m +273.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.500668)[0m ×2 +273.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.540668)[0m +273.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.560668)[0m ×2 +273.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.720668)[0m ×2 +273.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.730668)[0m +273.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.740668)[0m +273.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.780668)[0m +273.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495476.790668)[0m +274.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.390667)[0m +274.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.400668)[0m +274.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.480668)[0m +274.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.490668)[0m +274.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.500668)[0m +274.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.520668)[0m +274.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.540668)[0m +274.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.560668)[0m +274.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.610667)[0m +274.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.630667)[0m +274.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.650667)[0m +274.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.670667)[0m ×2 +274.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.850667)[0m +274.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495477.870667)[0m +274.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495478.000668)[0m +274.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495478.040668)[0m +274.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495478.230668)[0m ×2 +274.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495478.240668)[0m +274.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495478.260668)[0m ×2 +274.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495478.290668)[0m +274.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495478.310668)[0m +275.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495478.670667)[0m +275.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495478.980668)[0m +275.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495478.990668)[0m +275.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.000668)[0m +275.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.020668)[0m +275.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.030668)[0m +275.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.040668)[0m +275.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.060668)[0m +275.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.160668)[0m +275.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.330667)[0m +275.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.340668)[0m +276.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.380668)[0m +276.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.390667)[0m +276.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.490668)[0m +276.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.500668)[0m +276.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.520668)[0m +276.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.540668)[0m ×2 +276.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.710668)[0m +276.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.720668)[0m ×2 +276.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.740668)[0m +276.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495479.770668)[0m +277.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495480.510668)[0m +277.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495480.520668)[0m +277.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495480.530668)[0m +277.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495480.550668)[0m +277.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495480.570668)[0m ×2 +277.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495480.630667)[0m +277.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495480.650667)[0m +277.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495480.690668)[0m +277.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495480.720668)[0m +277.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.020668)[0m +277.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.040668)[0m +277.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.060668)[0m +277.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.080668)[0m +277.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.230668)[0m ×2 +277.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.240668)[0m +277.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.260668)[0m +277.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.300668)[0m +277.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.310668)[0m +278.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.500668)[0m +278.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.510668)[0m +278.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495481.720668)[0m +278.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.010668)[0m +278.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.020668)[0m +278.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.030668)[0m +278.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.040668)[0m ×2 +278.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.060668)[0m +278.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.080668)[0m +278.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.140668)[0m +279.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.420668)[0m +279.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.520668)[0m +279.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.570668)[0m +279.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.720668)[0m +279.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.730668)[0m +279.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.740668)[0m +279.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.750668)[0m +279.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.760668)[0m +279.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.770668)[0m +279.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495482.810668)[0m +279.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495483.090667)[0m +279.80sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780495483.15639853 seconds +279.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495483.160668)[0m +279.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495483.170667)[0m +279.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495465.830667) that ends in the past (1780495483.220668)[0m +280.50sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780495483.86458731 seconds. +280.92sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m +281.67sINFOobjective_server_nodeFound path in 6 iterations (0.00535274 s). +281.75sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] +281.76sINFOros2_control_node[2026-06-03 14:04:45.118] [info] Received new action goal +281.76sINFOros2_control_node[2026-06-03 14:04:45.118] [info] Accepted new action goal +293.65sINFOobjective_server_node[0;m[0;93m2026-06-03 14:04:57.013407581 [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 +293.65sINFOobjective_server_node[0;93m2026-06-03 14:04:57.013460772 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +294.17sINFOobjective_server_node[0;93m2026-06-03 14:04:57.532342200 [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 +294.17sINFOobjective_server_node[0;93m2026-06-03 14:04:57.532431852 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +294.30sINFOobjective_server_node[0;93m2026-06-03 14:04:57.657773712 [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 +294.30sINFOobjective_server_node[0;93m2026-06-03 14:04:57.659836799 [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 +294.30sINFOobjective_server_node[0;93m2026-06-03 14:04:57.659855230 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +294.60sINFOobjective_server_node[0;93m2026-06-03 14:04:57.963360994 [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 +294.62sINFOobjective_server_node[0;93m2026-06-03 14:04:57.977622630 [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 +294.62sINFOobjective_server_node[0;93m2026-06-03 14:04:57.977662730 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +295.57sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/pcd_pointcloud_captures"[0m +295.57sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m +296.07sINFOfoxglove_bridgeRemoving channel 66 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +298.09sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m +298.20sINFOobjective_server_nodeFound path in 4 iterations (0.00291946 s). +298.27sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] +298.30sINFOobjective_server_nodeFound path in 12 iterations (0.00522606 s). +298.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] +298.39sINFOobjective_server_nodeFound path in 1 iterations (0.00304524 s). +298.44sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] +298.46sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). +298.49sINFOobjective_server_nodePath shortcutter: [X____________________________________X] +298.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×3 +298.54sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] +298.56sINFOobjective_server_nodeFound path in 12 iterations (0.00441304 s). +298.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] +298.64sINFOobjective_server_nodeFound path in 1 iterations (0.00442703 s). +298.68sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] +298.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). +298.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] +298.75sINFOobjective_server_nodeFound path in 4 iterations (0.00444243 s). +298.83sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] +298.87sINFOobjective_server_nodeFound path in 62 iterations (0.014763 s). +298.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________X_________________________________________X] +298.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). +299.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] +299.02sINFOobjective_server_nodeFound path in 1 iterations (0.00474984 s). +299.08sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] +299.11sINFOobjective_server_nodeFound path in 1 iterations (0.00330775 s). +299.18sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] +299.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] +299.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X] +299.37sINFOros2_control_node[2026-06-03 14:05:02.734] [info] Received new action goal +299.38sINFOros2_control_node[2026-06-03 14:05:02.734] [info] Accepted new action goal +304.39sINFOros2_control_node[2026-06-03 14:05:07.750] [info] Received new action goal +304.39sINFOros2_control_node[2026-06-03 14:05:07.750] [info] Accepted new action goal +305.96sINFOros2_control_node[2026-06-03 14:05:09.320] [info] Received new action goal +305.96sINFOros2_control_node[2026-06-03 14:05:09.320] [info] Accepted new action goal +307.16sINFOobjective_server_nodePlanning for 4 path waypoints. +307.21sINFOros2_control_node[2026-06-03 14:05:10.565] [info] Received new action goal +307.21sINFOros2_control_node[2026-06-03 14:05:10.565] [info] Accepted new action goal +312.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780495515.99661660 seconds +313.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780495516.66429019 seconds. +313.51sINFOros2_control_node[2026-06-03 14:05:16.868] [info] Received new action goal +313.51sINFOros2_control_node[2026-06-03 14:05:16.868] [info] Accepted new action goal +313.74sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +313.74sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +313.74sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m +314.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.74% of iterations over budget over 5:10.011 of wall time (699/94465). Below 1% is expected on a non-realtime system.[0m +315.75sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m +316.26sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +318.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 +318.13sINFOobjective_server_nodeFound detection with id: 0, label: %s +318.27sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m +318.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] +318.31sINFOobjective_server_nodeFound path in 1 iterations (0.00261196 s). +318.39sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] +318.41sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +318.43sINFOros2_control_node[2026-06-03 14:05:21.793] [info] Received new action goal +318.43sINFOros2_control_node[2026-06-03 14:05:21.793] [info] Accepted new action goal +320.96sINFOros2_control_node[2026-06-03 14:05:24.315] [info] Received new action goal +320.96sINFOros2_control_node[2026-06-03 14:05:24.315] [info] Accepted new action goal +322.72sINFOros2_control_node[2026-06-03 14:05:26.078] [info] Received new action goal +322.72sINFOros2_control_node[2026-06-03 14:05:26.078] [info] Accepted new action goal +323.81sINFOros2_control_node[2026-06-03 14:05:27.164] [info] Got request to cancel active goal. +323.81sINFOros2_control_node[2026-06-03 14:05:27.164] [info] Canceling active goal... +323.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495527.18009758 seconds +324.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495527.81770658 seconds. +324.62sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 +324.63sINFOros2_control_node[2026-06-03 14:05:27.991] [info] Received new action goal +324.63sINFOros2_control_node[2026-06-03 14:05:27.991] [info] Accepted new action goal +324.84sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +324.84sINFOfoxglove_bridgeRemoving channel 63 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +326.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +334.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780495538.16073585 seconds +335.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780495538.71996737 seconds. +335.46sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m +335.62sINFOros2_control_node[2026-06-03 14:05:38.982] [info] Received new action goal +335.62sINFOros2_control_node[2026-06-03 14:05:38.982] [info] Accepted new action goal +339.63sINFOros2_control_node[2026-06-03 14:05:42.988] [info] Received new action goal +339.63sINFOros2_control_node[2026-06-03 14:05:42.988] [info] Accepted new action goal +345.23sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780495548.58631873 seconds +345.84sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780495549.20400310 seconds. +345.97sINFOros2_control_node[2026-06-03 14:05:49.328] [info] Received new action goal +345.97sINFOros2_control_node[2026-06-03 14:05:49.328] [info] Accepted new action goal +346.04sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m +356.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495559.66423178 seconds +356.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495560.22144461 seconds. +356.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495560.30157852 seconds +357.12sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m +357.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495560.85919285 seconds. +357.52sINFOobjective_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 '' +357.52sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495560.88104439 seconds +358.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495561.50365567 seconds. +358.27sINFOros2_control_node[2026-06-03 14:06:01.630] [info] Received new action goal +358.27sINFOros2_control_node[2026-06-03 14:06:01.630] [info] Accepted new action goal +361.56sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +361.57sINFOros2_control_node[2026-06-03 14:06:04.928] [info] Received new action goal +361.57sINFOros2_control_node[2026-06-03 14:06:04.928] [info] Accepted new action goal +361.57sINFOros2_control_node[2026-06-03 14:06:04.928] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +368.30sINFOros2_control_node[2026-06-03 14:06:11.664] [info] Got request to cancel active goal. +368.30sINFOros2_control_node[2026-06-03 14:06:11.664] [info] Canceling active goal... +368.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495571.66850710 seconds +368.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495572.22380114 seconds. +369.24sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/agent_event"[0m +370.25sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures"[0m +370.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495573.91392779 seconds +370.75sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +371.11sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495574.46962309 seconds. +371.11sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +371.11sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +371.11sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +371.11sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495574.47109795 seconds +371.26sINFOfoxglove_bridgeRemoving channel 73 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +371.26sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/secret_msg"[0m +371.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495575.02784419 seconds. +371.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495575.02830243 seconds +371.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/secret_msg" (std_msgs/msg/String)[0m +372.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495575.68057942 seconds. +372.77sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/pcd_pointcloud_captures"[0m +372.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495576.31071520 seconds +372.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +373.31sINFOfoxglove_bridgeRemoving channel 76 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +374.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.69% of iterations over budget over 6:10.013 of wall time (773/112832). Below 1% is expected on a non-realtime system.[0m +378.31sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.31sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.32sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.32sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.32sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.32sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.32sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.33sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.34sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.34sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.34sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.34sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.34sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +378.34sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] +378.35sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] +378.35sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] +378.36sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] +378.37sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] +378.38sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +378.39sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +378.39sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +378.40sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +378.42sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +378.42sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +378.43sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +378.44sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +378.44sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +378.44sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +378.44sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +378.44sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +378.44sERRORui_teleop_bridgeTraceback (most recent call last): +378.44sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +378.44sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +378.44sINFOui_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 +378.44sINFOui_teleop_bridgerclpy.shutdown() +378.44sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +378.44sINFOui_teleop_bridge_shutdown(context=context) +378.44sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +378.44sINFOui_teleop_bridgereturn context.shutdown() +378.44sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +378.44sINFOui_teleop_bridgeself.__context.shutdown() +378.44sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +378.45sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +378.45sINFOros2_control_nodeShutdown request received....[0m +378.45sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +378.45sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +378.45sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +378.45sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +378.45sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +378.45sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +378.45sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +378.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +378.45sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +378.45sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +378.45sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +378.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +378.45sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +378.45sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +378.45sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +378.45sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +378.45sINFOros2_control_nodeShutting down the controller manager.[0m +378.51sINFOobjective_server_node[0;m[2026-06-03 14:06:21.869] [moveit_pro_license] [info] +378.51sINFOobjective_server_node* Application has successfully terminated +378.57sINFOtf2_web_republisher_node-19process has finished cleanly [pid 25197] +378.57sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system +378.57sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +378.57sINFOweb_video_server-20process has finished cleanly [pid 25199] +378.61sERRORui_teleop_bridge-17process has died [pid 25193, 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_z3xoprsb']. +378.61sERRORobjective_server_nodeStack trace (most recent call last): +378.61sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 25185] +378.62sINFOmove_joint_resampler_node-12process has finished cleanly [pid 25183] +378.63sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +378.63sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559bc84384e4, in _start +378.63sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e396dae3f, in __libc_start_main +378.63sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e396dad96, in +378.63sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e396f660f, in exit +378.63sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e396f6494, in +378.63sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f6e39b7d251, in spdlog::details::registry::~registry() +378.63sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f6e39b87e66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() +378.63sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559bc843dcba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +378.63sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559bc843abf3, in spdlog_ros::RosSink::~RosSink() +378.63sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559bc843fe01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +378.63sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f6e3a074b2e, in rclcpp::Node::~Node() +378.63sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f6e3a04fd39, in +378.63sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f6e3a07e0b9, in +378.63sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f6e3a07e000, in rclcpp::node_interfaces::NodeBase::~NodeBase() +378.63sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f6e3a04fd39, in +378.63sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f6e3a054b31, in rclcpp::CallbackGroup::~CallbackGroup() +378.63sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f6dea2e83f0]) +378.64sINFOexecute_objective_bridge-16process has finished cleanly [pid 25191] +378.64sINFOwaypoint_manager_node-11process has finished cleanly [pid 25181] +378.64sINFOparameter_manager_node-10process has finished cleanly [pid 25142] +378.82sINFOfoxglove_bridgeShutdown complete[0m +379.58sINFOcomponent_container_mt-15process has finished cleanly [pid 25189] +379.59sERRORobjective_server_node_main-14process has died [pid 25187, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_t_trkm6j --params-file /tmp/launch_params_vfamidct --params-file /tmp/launch_params_2s030_l5 --params-file /tmp/launch_params_rqxtlp89 --params-file /tmp/launch_params_nqtmmx64 --params-file /tmp/launch_params_n3a101ob']. +379.59sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +379.75sINFOmove_group-9process has finished cleanly [pid 25139] +380.17sINFOros2_control_node-1process has finished cleanly [pid 25120] +380.69sINFOfoxglove_bridge-18process has finished cleanly [pid 25195] +380.69sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system +385.48sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-03-14-06-28-142617-dd7a22b64b99-26498 +387.14sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +387.22sINFOros2_control_node-1process started with pid [26528] +387.22sINFOmove_group-9process started with pid [26547] +387.22sINFOparameter_manager_node-10process started with pid [26550] +387.22sINFOwaypoint_manager_node-11process started with pid [26589] +387.22sINFOmove_joint_resampler_node-12process started with pid [26591] +387.22sINFOmove_end_effector_resampler_node-13process started with pid [26593] +387.22sINFOobjective_server_node_main-14process started with pid [26595] +387.22sINFOcomponent_container_mt-15process started with pid [26597] +387.23sINFOexecute_objective_bridge-16process started with pid [26599] +387.23sINFOui_teleop_bridge-17process started with pid [26601] +387.23sINFOfoxglove_bridge-18process started with pid [26605] +387.23sINFOtf2_web_republisher_node-19process started with pid [26614] +387.23sINFOweb_video_server-20process started with pid [26642] +387.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [26530] +387.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [26532] +387.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [26534] +387.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [26536] +387.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [26538] +387.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [26541] +387.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [26544] +387.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +387.41sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) +387.41sINFOfoxglove_bridgeServer listening on port 3201 +387.42sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" +387.42sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m +387.43sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" +387.43sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m +387.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" +387.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m +387.46sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state" +387.46sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state"[0m +387.46sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" +387.46sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description" +387.46sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m +387.46sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description"[0m +387.47sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" +387.47sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m +387.47sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint" +387.47sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector" +387.48sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m +387.48sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector"[0m +387.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +387.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +387.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +387.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +387.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +387.57sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +387.57sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +387.57sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +387.57sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +388.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +388.16sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +388.16sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +388.19sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +388.25sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +388.26sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf_static" +388.26sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic" +388.26sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf_static"[0m +388.26sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic"[0m +388.26sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +388.29sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene_world" +388.29sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene_world"[0m +388.31sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... +388.32sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene" +388.32sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/tf" +388.32sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene"[0m +388.32sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/tf"[0m +388.32sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" +388.32sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" +388.32sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" +388.32sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" +388.33sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" +388.33sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" +388.34sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" +388.34sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" +389.48sINFOobjective_server_node[2026-06-03 14:06:32.841] [moveit_pro_license] [info] +389.58sINFOcontroller_managerupdate rate is 600 Hz +389.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +389.58sWARNcontroller_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. +389.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +389.65sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +389.65sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +389.66sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' +389.66sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +389.66sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +389.66sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. +389.66sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +389.67sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +389.68sINFOcontroller_managerLoading controller 'velocity_force_controller' +389.70sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color" +389.70sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth" +389.70sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/depth" +389.70sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/color" +389.70sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color"[0m +389.70sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth"[0m +389.70sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/depth"[0m +389.70sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/color"[0m +389.71sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics" +389.71sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics"[0m +389.71sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/wrist_camera/points" +389.71sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/wrist_camera/points"[0m +389.72sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/camera_info" +389.72sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/camera_info"[0m +389.72sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_trajectory_controller/state" +389.72sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_trajectory_controller/state"[0m +389.73sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/joint_trajectory" +389.73sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/controller_state" +389.73sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/joint_trajectory"[0m +389.73sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/controller_state"[0m +389.73sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/failure_reason_collector" +389.73sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/failure_reason_collector"[0m +389.74sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/description" +389.74sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/points" +389.74sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" +389.74sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/description"[0m +389.74sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/points"[0m +389.74sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/transition_event" +389.74sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/transition_event"[0m +389.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +389.82sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +389.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +389.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +389.91sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +389.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +389.93sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +389.95sINFOcontroller_managerLoading controller 'joint_velocity_controller' +389.95sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +389.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +389.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 26536] +390.03sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +390.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +390.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +390.05sINFOcontroller_managerConfiguring controller 'velocity_force_controller' +390.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +390.14sINFOros2_control_node[2026-06-03 14:06:33.498] [info] Controller state will be published at 10 Hz. +390.14sINFOros2_control_node[2026-06-03 14:06:33.499] [info] VelocityForceController 'on_configure' succeeded. +390.14sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' +390.14sINFOros2_control_node[2026-06-03 14:06:33.501] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +390.14sINFOros2_control_node[2026-06-03 14:06:33.501] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +390.18sINFOros2_control_node[2026-06-03 14:06:33.541] [info] First order lag filter time constant set to: 0.2 seconds +390.18sINFOros2_control_node[2026-06-03 14:06:33.541] [info] Controller state will be published at 50 Hz. +390.19sINFOros2_control_node[2026-06-03 14:06:33.547] [info] Registered `FollowJointTrajectory` action server. +390.19sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' +390.19sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' +390.19sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +390.19sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +390.19sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +390.19sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. +390.20sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' +390.24sINFOros2_control_node[2026-06-03 14:06:33.603] [info] Controller state will be published at 20 Hz. +390.24sINFOros2_control_node[2026-06-03 14:06:33.604] [info] JointVelocityController 'on_configure' succeeded. +390.25sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' +390.25sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +390.25sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +390.26sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +390.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +390.26sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +390.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 26541] +390.50sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event" +390.50sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event"[0m +390.50sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command" +390.50sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/trajectory_execution_event" +390.50sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/robotiq_gripper_controller/transition_event" +390.51sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command"[0m +390.51sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/trajectory_execution_event"[0m +390.51sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/robotiq_gripper_controller/transition_event"[0m +390.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 26530] +390.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 26534] +390.51sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/controller_state" +390.51sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/controller_state"[0m +390.51sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/transient_monitored_planning_scene_without_octomap" +390.51sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_velocity_controller/transition_event" +390.51sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/transient_monitored_planning_scene_without_octomap"[0m +390.51sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_velocity_controller/transition_event"[0m +390.51sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_velocity_controller/controller_state" +390.51sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/command" +390.51sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_velocity_controller/controller_state"[0m +390.51sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/command"[0m +390.52sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/visual_markers" +390.52sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_admittance_controller/controller_state" +390.52sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_state_broadcaster/transition_event" +390.53sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/visual_markers"[0m +390.53sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/wrench" +390.53sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/transition_event" +390.53sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/transition_event"[0m +390.53sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/dynamic_joint_states" +390.53sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/blackboard_contents" +390.53sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/behavior_tree_status" +390.53sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event" +390.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 26538] +390.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 26544] +390.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 26532] +391.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495595.24957585 seconds. ×2 +391.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495595.25977230 seconds ×2 +392.34sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" +392.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495595.81041718 seconds. ×2 +392.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +392.86sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) +393.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495596.97199535 seconds ×2 +394.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 seconds. ×2 +395.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 +395.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 +395.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	54 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495596.97199535 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 seconds. ×2 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 4.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 4.34sINFOobjective_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 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 4.45sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.46sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 4.46sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.99sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.86sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.88sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.88sINFOros2_control_node[2026-06-03 14:06:43.849] [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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495596.97199535 seconds ×2 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 seconds. ×2 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 4.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.20sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 5.20sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 6.73sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m
− 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/2026-06-03-13-57-04-261580-dd7a22b64b99-24256 + 0.00sINFOlaunchDefault logging verbosity is set to INFO
− skipped	—	addtovector.xml	0.0s	2 warnings · 112 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-03-14-06-28-142617-dd7a22b64b99-26498 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.66sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.74sINFOros2_control_node-1process started with pid [26528] + 1.74sINFOmove_group-9process started with pid [26547] + 1.74sINFOparameter_manager_node-10process started with pid [26550] + 1.74sINFOwaypoint_manager_node-11process started with pid [26589] + 1.74sINFOmove_joint_resampler_node-12process started with pid [26591] + 1.74sINFOmove_end_effector_resampler_node-13process started with pid [26593] + 1.74sINFOobjective_server_node_main-14process started with pid [26595] + 1.74sINFOcomponent_container_mt-15process started with pid [26597] + 1.74sINFOexecute_objective_bridge-16process started with pid [26599] + 1.74sINFOui_teleop_bridge-17process started with pid [26601] + 1.74sINFOfoxglove_bridge-18process started with pid [26605] + 1.74sINFOtf2_web_republisher_node-19process started with pid [26614] + 1.75sINFOweb_video_server-20process started with pid [26642] + 1.75sINFOparameter_manager_nodeStarted parameter manager node. + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [26530] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [26532] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [26534] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [26536] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [26538] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [26541] + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [26544] + 1.78sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.78sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.92sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.93sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.93sINFOfoxglove_bridgeServer listening on port 3201 + 1.93sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.94sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.94sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.94sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.94sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.95sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.95sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state" + 1.97sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.98sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 1.98sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description" + 1.98sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.98sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description"[0m + 1.99sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.99sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.99sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint" + 1.99sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector" + 1.99sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m + 1.99sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector"[0m + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.09sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 2.09sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.63sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.65sINFOros2_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. + 2.65sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.66sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.68sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.71sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.77sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.77sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf_static" + 2.77sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic" + 2.77sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf_static"[0m + 2.77sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic"[0m + 2.78sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene_world" + 2.81sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene_world"[0m + 2.82sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.84sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene" + 2.84sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/tf" + 2.84sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/tf"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.84sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.84sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.84sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" + 2.84sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.85sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.85sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.85sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.86sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.86sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.94sINFOwaypoint_manager_nodeStarted waypoint manager node.
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	1 warning · 50 info
+ 0.00sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON + 0.00sINFOmove_groupTrajectory execution is managing controllers[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON[0m + 0.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×4 + 0.18sINFOmove_group******************************************************** ×2 + 0.18sINFOmove_group* MoveGroup using: + 0.18sINFOmove_group* - apply_planning_scene_service + 0.18sINFOmove_group* - clear_octomap_service + 0.18sINFOmove_group* - ExecuteTaskSolution + 0.18sINFOmove_group* - get_group_urdf + 0.18sINFOmove_group* - load_geometry_from_file + 0.18sINFOmove_group* - get_planning_scene_service + 0.18sINFOmove_group* - kinematics_service + 0.18sINFOmove_group* - save_geometry_to_file + 0.18sINFOmove_group* - GetPlanningGroups + 0.18sINFOmove_group* - SetActiveControllerService + 0.18sINFOmove_group* - URDFPlanningSceneCapability + 0.18sINFOmove_group[0m + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.20sINFOlocal_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 + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	54 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495595.24957585 seconds. ×2 + 0.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495595.25977230 seconds ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495595.81041718 seconds. ×2 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.59sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495596.97199535 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 seconds. ×2 + 3.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 5.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2
− skipped	—	createvector.xml	0.0s	1 warning · 50 info
+ 0.00sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON + 0.00sINFOmove_groupTrajectory execution is managing controllers[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON[0m + 0.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×4 + 0.18sINFOmove_group******************************************************** ×2 + 0.18sINFOmove_group* MoveGroup using: + 0.18sINFOmove_group* - apply_planning_scene_service + 0.18sINFOmove_group* - clear_octomap_service + 0.18sINFOmove_group* - ExecuteTaskSolution + 0.18sINFOmove_group* - get_group_urdf + 0.18sINFOmove_group* - load_geometry_from_file + 0.18sINFOmove_group* - get_planning_scene_service + 0.18sINFOmove_group* - kinematics_service + 0.18sINFOmove_group* - save_geometry_to_file + 0.18sINFOmove_group* - GetPlanningGroups + 0.18sINFOmove_group* - SetActiveControllerService + 0.18sINFOmove_group* - URDFPlanningSceneCapability + 0.18sINFOmove_group[0m + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.20sINFOlocal_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 + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m
− skipped	—	createvector.xml	0.0s	54 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495595.24957585 seconds. ×2 + 0.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495595.25977230 seconds ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495595.81041718 seconds. ×2 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.59sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495596.97199535 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 seconds. ×2 + 3.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 5.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	1 warning · 50 info
+ 0.00sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON + 0.00sINFOmove_groupTrajectory execution is managing controllers[0m + 0.00sINFOmove_groupMoveGroup debug mode is ON[0m + 0.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.04sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.18sINFOmove_group ×4 + 0.18sINFOmove_group******************************************************** ×2 + 0.18sINFOmove_group* MoveGroup using: + 0.18sINFOmove_group* - apply_planning_scene_service + 0.18sINFOmove_group* - clear_octomap_service + 0.18sINFOmove_group* - ExecuteTaskSolution + 0.18sINFOmove_group* - get_group_urdf + 0.18sINFOmove_group* - load_geometry_from_file + 0.18sINFOmove_group* - get_planning_scene_service + 0.18sINFOmove_group* - kinematics_service + 0.18sINFOmove_group* - save_geometry_to_file + 0.18sINFOmove_group* - GetPlanningGroups + 0.18sINFOmove_group* - SetActiveControllerService + 0.18sINFOmove_group* - URDFPlanningSceneCapability + 0.18sINFOmove_group[0m + 0.18sINFOmove_group[92mYou can start planning now![0m + 0.20sINFOlocal_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 + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.21sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m
− skipped	—	find_nearest_pose_in_path.xml	0.0s	54 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495595.24957585 seconds. ×2 + 0.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495595.25977230 seconds ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495595.81041718 seconds. ×2 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.59sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495596.97199535 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 seconds. ×2 + 3.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 5.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2
− skipped	—	request_teleoperation.xml	0.0s	47 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495596.97199535 seconds ×2 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 seconds. ×2 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 4.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.20sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 5.20sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal
− skipped	—	teleoperate.xml	0.0s	46 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495596.97199535 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 seconds. ×2 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 4.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 4.34sINFOobjective_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 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 4.45sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.46sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 4.46sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.99sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). 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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Accepted new action goal
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	0.7s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	—	interactive_marker_visualization.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Accepted new action goal
− 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_example.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Accepted new action goal
− 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	—	visualize_tf.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	Move Flasks to Burners	move_flasks_to_burners.xml	42.9s	125 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495708.57597184 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257672723 [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 + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257716404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780587600 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780634661 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.908871309 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912654387 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912696368 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.99sINFOobjective_server_node[0;93m2026-06-03 14:08:30.238135823 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256701046 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256737607 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495711.11925650 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495711.83150649 seconds. ×2 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Accepted new action goal + 4.03sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.83sINFOros2_control_node[2026-06-03 14:08:35.078] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-03 14:08:35.079] [info] Accepted new action goal + 9.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.01sINFOros2_control_node[2026-06-03 14:08:38.256] [info] Received new action goal + 10.01sINFOros2_control_node[2026-06-03 14:08:38.256] [info] Accepted new action goal + 12.87sINFOobjective_server_nodeFound path in 0 iterations (1.25e-06 s). + 12.88sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.91sINFOros2_control_node[2026-06-03 14:08:41.160] [info] Received new action goal + 12.91sINFOros2_control_node[2026-06-03 14:08:41.160] [info] Accepted new action goal + 14.70sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.58% of iterations over budget over 2:10.006 of wall time (230/39907). Below 1% is expected on a non-realtime system.[0m + 15.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 23.40sINFOobjective_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 + 24.33sINFOros2_control_node[2026-06-03 14:08:52.585] [info] Received new action goal + 24.34sINFOros2_control_node[2026-06-03 14:08:52.585] [info] Accepted new action goal + 25.52sINFOobjective_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 + 25.54sINFOobjective_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 + 25.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 25.83sINFOros2_control_node[2026-06-03 14:08:54.084] [info] Received new action goal + 25.83sINFOros2_control_node[2026-06-03 14:08:54.084] [info] Accepted new action goal + 28.12sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 28.12sINFOobjective_server_nodePath shortcutter: [X__________X] + 28.13sINFOros2_control_node[2026-06-03 14:08:56.378] [info] Received new action goal + 28.13sINFOros2_control_node[2026-06-03 14:08:56.378] [info] Accepted new action goal + 31.21sINFOros2_control_node[2026-06-03 14:08:59.455] [info] Received new action goal + 31.21sINFOros2_control_node[2026-06-03 14:08:59.455] [info] Accepted new action goal + 33.81sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 33.81sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.86sINFOros2_control_node[2026-06-03 14:09:02.113] [info] Received new action goal + 33.86sINFOros2_control_node[2026-06-03 14:09:02.114] [info] Accepted new action goal + 44.73sINFOros2_control_node[2026-06-03 14:09:12.976] [info] Received new action goal + 44.73sINFOros2_control_node[2026-06-03 14:09:12.976] [info] Accepted new action goal + 45.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780495754.13197398 seconds ×2 + 46.62sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780495754.86660528 seconds. ×2 + 47.00sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 47.00sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 47.88sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.90sINFOros2_control_node[2026-06-03 14:09:16.149] [info] Received new action goal + 47.90sINFOros2_control_node[2026-06-03 14:09:16.149] [info] Accepted new action goal
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	39.3s	718 errors · 7345 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1523 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1164 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×1523 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×1164 + 0.02sINFOjoint_trajectory_controllerGoal reached, success! ×962 + 0.02sINFOros2_control_nodeGoal reached, success![0m ×962 + 0.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.209792) + 0.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.219792) + 0.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.209792)[0m + 0.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.219792)[0m + 0.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.229792) + 0.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.239792) + 0.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.229792)[0m + 0.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.239792)[0m + 0.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.279792) + 0.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.279792)[0m + 0.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.619792) + 0.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.619792)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.639792) + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.649792) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.639792)[0m + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.649792)[0m + 0.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.899792) + 0.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.899792)[0m + 0.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.979792) ×2 + 0.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.979792)[0m ×2 + 0.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.019792) + 0.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.019792)[0m + 0.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.109792) + 0.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.109792)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.149792) + 1.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.149792)[0m + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.169792) + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.169792)[0m + 1.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.329792) + 1.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.329792)[0m + 1.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.359792) + 1.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.359792)[0m + 1.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.459792) ×2 + 1.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.459792)[0m ×2 + 1.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.489792) + 1.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.489792)[0m + 1.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.519792) + 1.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.519792)[0m + 1.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.669792) + 1.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.679792) ×2 + 1.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.669792)[0m + 1.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.679792)[0m ×2 + 1.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.699792) + 1.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.699792)[0m + 1.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.109792) + 1.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.109792)[0m + 2.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.369792) + 2.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.369792)[0m + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.439792) + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.449792) + 2.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.439792)[0m + 2.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.449792)[0m + 2.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.459792) + 2.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.459792)[0m + 2.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.479792) + 2.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.479792)[0m + 2.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.499792) + 2.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.499792)[0m + 2.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.509792) + 2.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.519792) + 2.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.509792)[0m + 2.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.519792)[0m + 2.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.609792) + 2.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.609792)[0m + 2.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.629792) + 2.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.629792)[0m + 2.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.659792) + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.659792)[0m + 2.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.999792) + 2.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.999792)[0m + 2.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.019792) + 2.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.019792)[0m + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.179792) + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.189792) + 3.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.199792) ×2 + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.179792)[0m + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.189792)[0m + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.199792)[0m ×2 + 3.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495829.23235846 seconds ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.71sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780495829.85472345 seconds. ×2 + 3.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.88sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 3.88sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.89sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.91sINFOros2_control_node[2026-06-03 14:10:30.050] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-03 14:10:30.050] [info] Accepted new action goal + 8.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 8.39sINFOros2_control_node[2026-06-03 14:10:34.534] [info] Received new action goal + 8.39sINFOros2_control_node[2026-06-03 14:10:34.534] [info] Accepted new action goal + 15.97sINFOros2_control_node[2026-06-03 14:10:42.118] [info] Received new action goal + 15.97sINFOros2_control_node[2026-06-03 14:10:42.118] [info] Accepted new action goal + 16.81sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 4:10.009 of wall time (560/76426). Below 1% is expected on a non-realtime system.[0m + 22.04sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures" + 22.04sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m + 22.31sINFOobjective_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 + 22.36sINFOobjective_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 + 22.54sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 22.54sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 25.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.521127) + 25.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.521127)[0m + 25.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.531127) + 25.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.531127)[0m + 25.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.611128) + 25.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.611128)[0m + 25.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.671128) + 25.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.671128)[0m + 25.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.831128) + 25.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.841127) + 25.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.831128)[0m + 25.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.841127)[0m + 25.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.851128) + 25.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.861127) + 25.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.851128)[0m + 25.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.861127)[0m + 25.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.921127) + 25.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495851.921127)[0m + 26.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.231128) + 26.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.231128)[0m + 26.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.261127) ×2 + 26.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.261127)[0m ×2 + 26.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.331128) + 26.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.331128)[0m + 26.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.371128) + 26.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.371128)[0m + 26.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.441128) + 26.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.441128)[0m + 26.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.461128) + 26.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.461128)[0m + 26.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.481128) + 26.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.491127) + 26.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.481128)[0m + 26.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.491127)[0m + 26.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.591128) + 26.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.601127) ×2 + 26.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.591128)[0m + 26.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.601127)[0m ×2 + 26.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.651128) ×2 + 26.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.651128)[0m ×2 + 26.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.741127) + 26.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.741127)[0m + 26.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.861127) + 26.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.861127)[0m + 26.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.891128) + 26.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.891128)[0m + 26.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.911128) + 26.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.911128)[0m + 26.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.931128) ×2 + 26.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495852.931128)[0m ×2 + 26.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.011127) + 26.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.011127)[0m + 26.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.031127) + 26.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.031127)[0m + 26.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.091128) + 26.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.091128)[0m + 26.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.111128) + 26.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.111128)[0m + 27.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.281127) + 27.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.291127) + 27.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.301127) + 27.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.281127)[0m + 27.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.291127)[0m + 27.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.301127)[0m + 27.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.321127) + 27.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.321127)[0m + 27.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.381127) + 27.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.381127)[0m + 27.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.461128) + 27.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.461128)[0m + 27.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.501127) + 27.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.501127)[0m + 27.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.621127) + 27.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.621127)[0m + 27.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.691128) + 27.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.691128)[0m + 27.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.761127) ×2 + 27.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.761127)[0m ×2 + 27.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.801127) + 27.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.801127)[0m + 27.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.921127) + 27.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.921127)[0m + 27.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.951128) ×2 + 27.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.951128)[0m ×2 + 27.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.971128) + 27.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495853.971128)[0m + 27.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.051127) + 27.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.051127)[0m + 27.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.071128) ×2 + 27.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.071128)[0m ×2 + 27.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.121127) ×2 + 27.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.121127)[0m ×2 + 28.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.211128) + 28.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.211128)[0m + 28.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.361127) + 28.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.361127)[0m + 28.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.401127) + 28.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.401127)[0m + 28.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.421127) + 28.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.421127)[0m + 28.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.501127) + 28.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.501127)[0m + 28.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.521127) + 28.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.521127)[0m + 28.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.541127) + 28.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.541127)[0m + 28.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.561127) + 28.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.561127)[0m + 28.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.581127) + 28.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.581127)[0m + 28.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.741127) + 28.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.741127)[0m + 28.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.751127) + 28.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.761127) + 28.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.771127) + 28.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.751127)[0m + 28.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.761127)[0m + 28.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.771127)[0m + 28.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.821127) + 28.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.821127)[0m + 28.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.911128) + 28.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.911128)[0m + 28.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.931128) + 28.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.931128)[0m + 28.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.961128) + 28.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495854.961128)[0m + 28.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.091128) + 28.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.091128)[0m + 29.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.151128) + 29.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.161127) + 29.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.151128)[0m + 29.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.161127)[0m + 29.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.221128) + 29.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.221128)[0m + 29.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.271127) + 29.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.271127)[0m + 29.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.351128) + 29.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.351128)[0m + 29.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.371128) + 29.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.371128)[0m + 29.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.381127) + 29.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.381127)[0m + 29.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.391128) + 29.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.391128)[0m + 29.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.421127) + 29.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.421127)[0m + 29.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.501127) + 29.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.501127)[0m + 29.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.511127) + 29.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.511127)[0m + 29.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.551127) + 29.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.561127) + 29.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.551127)[0m + 29.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.561127)[0m + 29.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.581127) + 29.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.581127)[0m + 29.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.961128) + 29.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495855.961128)[0m + 30.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.191128) + 30.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.201128) + 30.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.211128) + 30.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.191128)[0m + 30.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.201128)[0m + 30.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.211128)[0m + 30.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.261127) + 30.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.261127)[0m + 30.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.271127) + 30.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.271127)[0m + 30.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.391128) + 30.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.391128)[0m + 30.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.411128) ×2 + 30.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.411128)[0m ×2 + 30.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.511127) + 30.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.511127)[0m + 30.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.551127) + 30.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.551127)[0m + 30.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.571128) + 30.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.571128)[0m + 30.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.581127) + 30.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.591128) + 30.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.581127)[0m + 30.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.591128)[0m + 30.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.781127) + 30.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.781127)[0m + 30.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.821127) + 30.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.821127)[0m + 30.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.841127) ×2 + 30.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.841127)[0m ×2 + 30.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.931128) + 30.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.931128)[0m + 30.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.941128) ×2 + 30.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.941128)[0m ×2 + 30.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.981128) + 30.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.991127) + 30.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.981128)[0m + 30.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495856.991127)[0m + 30.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.081127) + 30.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.081127)[0m + 31.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.381127) + 31.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.381127)[0m + 31.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.391128) + 31.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.391128)[0m + 31.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.411128) + 31.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.421127) + 31.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.411128)[0m + 31.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.421127)[0m + 31.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.591128) + 31.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.591128)[0m + 31.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.611128) + 31.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.611128)[0m + 31.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.631128) ×2 + 31.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.631128)[0m ×2 + 31.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.691128) + 31.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.691128)[0m + 31.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.781127) + 31.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.781127)[0m + 31.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.801127) + 31.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.801127)[0m + 31.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.821127) + 31.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495857.821127)[0m + 31.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.011127) + 31.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.011127)[0m + 31.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.081127) + 31.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.081127)[0m + 32.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.211128) + 32.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.211128)[0m + 32.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.221128) + 32.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.221128)[0m + 32.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.251127) + 32.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.251127)[0m + 32.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.261127) + 32.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.271127) + 32.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.261127)[0m + 32.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.271127)[0m + 32.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.361127) + 32.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.361127)[0m + 32.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.381127) + 32.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.391128) + 32.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.381127)[0m + 32.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.391128)[0m + 32.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.421127) + 32.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.431128) ×2 + 32.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.421127)[0m + 32.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.431128)[0m ×2 + 32.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.651128) + 32.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.651128)[0m + 32.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.671128) + 32.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.671128)[0m + 32.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.691128) ×2 + 32.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.691128)[0m ×2 + 32.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.711128) + 32.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.711128)[0m + 32.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.811128) + 32.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.811128)[0m + 32.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.831128) + 32.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.831128)[0m + 32.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.851128) + 32.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.851128)[0m + 32.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.881127) + 32.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.881127)[0m + 32.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.891128) + 32.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495858.891128)[0m + 32.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.041127) + 32.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.051127) + 32.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.041127)[0m + 32.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.061127) + 32.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.071128) + 32.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.051127)[0m + 32.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.061127)[0m + 32.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.081127) ×2 + 32.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.071128)[0m + 32.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.081127)[0m ×2 + 33.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.451128) + 33.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.451128)[0m + 33.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.481128) + 33.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.481128)[0m + 33.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.501127) + 33.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.501127)[0m + 33.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.541127) + 33.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.541127)[0m + 33.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.561127) + 33.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.561127)[0m + 33.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.701128) + 33.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.701128)[0m + 33.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.721128) + 33.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.721128)[0m + 33.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.731128) + 33.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.741127) + 33.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.731128)[0m + 33.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.741127)[0m + 33.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.811128) + 33.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.821127) + 33.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.811128)[0m + 33.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.821127)[0m + 33.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.841127) + 33.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.841127)[0m + 33.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.861127) + 33.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.861127)[0m + 33.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.881127) + 33.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.881127)[0m + 33.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.991127) + 33.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495859.991127)[0m + 33.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.001127) + 33.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.001127)[0m + 33.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.111128) + 33.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.111128)[0m + 34.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.151128) + 34.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.151128)[0m + 34.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.171128) ×2 + 34.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.171128)[0m ×2 + 34.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.201128) + 34.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.201128)[0m + 34.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.301127) + 34.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.311128) + 34.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.301127)[0m + 34.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.311128)[0m + 34.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.331128) + 34.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.331128)[0m + 34.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.351128) + 34.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.351128)[0m + 34.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.361127) + 34.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.361127)[0m + 34.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.371128) + 34.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.371128)[0m + 34.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.511127) + 34.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.511127)[0m + 34.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.521127) + 34.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.531127) + 34.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.541127) + 34.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.521127)[0m + 34.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.531127)[0m + 34.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.541127)[0m + 34.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.551127) + 34.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.551127)[0m + 34.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.561127) + 34.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.561127)[0m + 34.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.761127) + 34.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.761127)[0m + 34.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.781127) + 34.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.781127)[0m + 34.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.791127) + 34.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495860.791127)[0m + 34.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.031127) + 34.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.031127)[0m + 35.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.141127) + 35.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.141127)[0m + 35.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.191128) + 35.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.191128)[0m + 35.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.211128) + 35.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.211128)[0m + 35.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.291127) + 35.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.301127) + 35.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.291127)[0m + 35.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.301127)[0m + 35.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.321127) + 35.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.321127)[0m + 35.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.341127) + 35.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.341127)[0m + 35.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.351128) + 35.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.361127) + 35.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.351128)[0m + 35.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.361127)[0m + 35.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.441128) + 35.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.441128)[0m + 35.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.461128) + 35.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.461128)[0m + 35.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.491127) + 35.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.491127)[0m + 35.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.811128) + 35.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.811128)[0m + 35.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.851128) + 35.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495861.851128)[0m + 35.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.021127) ×2 + 35.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.021127)[0m ×2 + 35.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.031127) + 35.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.041127) + 35.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.031127)[0m + 35.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.041127)[0m + 35.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.051127) + 35.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.061127) + 35.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.051127)[0m + 35.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.061127)[0m + 36.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.481128) + 36.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.481128)[0m + 36.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.521127) + 36.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.521127)[0m + 36.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.581127) + 36.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.581127)[0m + 36.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.681127) + 36.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.681127)[0m + 36.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.691128) + 36.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.691128)[0m + 36.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.711128) + 36.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.711128)[0m + 36.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.721128) + 36.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.731128) + 36.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.721128)[0m + 36.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.731128)[0m + 36.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.801127) + 36.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.801127)[0m + 36.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.821127) + 36.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.821127)[0m + 36.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.841127) + 36.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.841127)[0m + 36.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.861127) ×2 + 36.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.861127)[0m ×2 + 36.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.961128) ×2 + 36.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495862.961128)[0m ×2 + 36.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.001127) + 36.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.001127)[0m + 36.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.121127) + 36.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.121127)[0m + 37.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.141127) + 37.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.141127)[0m + 37.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.301127) + 37.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.301127)[0m + 37.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.321127) + 37.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.321127)[0m + 37.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.341127) ×2 + 37.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.341127)[0m ×2 + 37.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.361127) + 37.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.361127)[0m + 37.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.511127) + 37.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.521127) + 37.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.511127)[0m + 37.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.521127)[0m + 37.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.541127) ×2 + 37.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.541127)[0m ×2 + 37.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.591128) + 37.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495863.591128)[0m + 37.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.001127) + 37.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.001127)[0m + 38.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.151128) + 38.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.151128)[0m + 38.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.171128) + 38.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.171128)[0m + 38.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.201128) + 38.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.201128)[0m + 38.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.261127) + 38.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.261127)[0m + 38.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.281127) + 38.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.291127) + 38.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.281127)[0m + 38.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.291127)[0m + 38.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.311128) + 38.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.311128)[0m + 38.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.331128) + 38.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.331128)[0m + 38.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.341127) + 38.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.341127)[0m + 38.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.401127) + 38.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.401127)[0m + 38.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.641127) + 38.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.641127)[0m + 38.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.751127) + 38.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.751127)[0m + 38.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.761127) + 38.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.761127)[0m + 38.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.771127) + 38.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.771127)[0m + 38.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.821127) + 38.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.821127)[0m + 38.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.971128) + 38.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.981128) ×2 + 38.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.971128)[0m + 38.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495864.981128)[0m ×2 + 38.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.011127) ×2 + 38.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.011127)[0m ×2 + 38.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.051127) + 38.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.051127)[0m + 39.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.431128) + 39.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.431128)[0m + 39.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.491127) + 39.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.491127)[0m + 39.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.791127) + 39.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.791127)[0m + 39.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.801127) + 39.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.811128) + 39.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.801127)[0m + 39.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.811128)[0m + 39.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.831128) ×2 + 39.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.831128)[0m ×2 + 39.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.901127) + 39.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.901127)[0m + 39.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.921127) + 39.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.921127)[0m + 39.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.961128) + 39.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.961128)[0m + 39.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.981128) + 39.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.981128)[0m + 39.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.091128) + 39.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.091128)[0m + 39.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.131128) + 39.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.131128)[0m + 40.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.271127) + 40.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.271127)[0m + 40.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.291127) + 40.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.291127)[0m + 40.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.311128) + 40.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.311128)[0m + 40.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.331128) + 40.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.331128)[0m + 40.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.481128) + 40.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.481128)[0m + 40.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.501127) ×2 + 40.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.501127)[0m ×2 + 40.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.511127) + 40.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.511127)[0m + 40.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.531127) ×2 + 40.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.531127)[0m ×2 + 40.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.771127) + 40.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.771127)[0m + 40.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.861127) + 40.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.861127)[0m + 40.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.901127) + 40.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.901127)[0m + 40.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.941128) + 40.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.941128)[0m + 40.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.991127) + 40.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.991127)[0m + 41.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.191128) + 41.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.191128)[0m + 41.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.261127) + 41.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.261127)[0m + 41.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.271127) + 41.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.271127)[0m + 41.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.281127) + 41.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.281127)[0m + 41.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.291127) + 41.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.291127)[0m + 41.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.311128) + 41.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.311128)[0m + 41.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.331128) ×2 + 41.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.331128)[0m ×2 + 41.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.431128) + 41.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.431128)[0m + 41.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.441128) + 41.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.441128)[0m + 41.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.451128) + 41.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.451128)[0m + 41.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.571128) + 41.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.571128)[0m + 41.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.611128) + 41.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.611128)[0m + 41.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.631128) + 41.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.631128)[0m + 41.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.731128) + 41.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.731128)[0m + 41.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.751127) + 41.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.751127)[0m + 41.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.781127) + 41.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.781127)[0m + 41.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.791127) + 41.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.801127) + 41.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.791127)[0m + 41.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.801127)[0m + 41.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.961128) + 41.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.961128)[0m + 41.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.971128) ×2 + 41.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.971128)[0m ×2 + 41.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.981128) + 41.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.981128)[0m + 41.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.001127) + 41.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.001127)[0m + 41.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.041127) + 41.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.041127)[0m + 42.37sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780495868.51571870 seconds ×2 + 42.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.521127) + 42.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.521127)[0m + 42.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.561127) + 42.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.561127)[0m + 42.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.591128) + 42.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.591128)[0m + 42.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.611128) ×2 + 42.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.611128)[0m ×2 + 43.02sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780495869.16323280 seconds. ×2 + 43.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 43.02sINFOros2_control_nodeReceived & accepted new action goal[0m + 43.28sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 43.28sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 44.21sINFOobjective_server_nodeFound path in 6 iterations (0.00528291 s). + 44.27sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 44.28sINFOros2_control_node[2026-06-03 14:11:10.428] [info] Received new action goal + 44.29sINFOros2_control_node[2026-06-03 14:11:10.429] [info] Accepted new action goal
✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	38.6s	2 errors · 9065 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780495765.87677407 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495766.44542408 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X___X] + 0.73sINFOros2_control_node[2026-06-03 14:09:26.610] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-03 14:09:26.610] [info] Accepted new action goal + 0.97sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.97sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 2.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.01sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 3.23sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 3.25sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 5.57sINFOjoint_trajectory_controllerReceived new action goal ×2252 + 5.57sINFOjoint_trajectory_controllerAccepted new action goal ×2252 + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2252 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2252 + 10.40sINFOjoint_trajectory_controllerGoal reached, success! ×5 + 10.40sINFOros2_control_nodeGoal reached, success![0m ×5 + 17.08sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.67% of iterations over budget over 3:10.007 of wall time (387/58192). Below 1% is expected on a non-realtime system.[0m + 38.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495804.43277431 seconds ×2 + 39.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495805.13941050 seconds. ×2 + 39.32sINFOobjective_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 + 39.41sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 39.42sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 39.44sINFOros2_control_node[2026-06-03 14:10:05.316] [info] Received new action goal + 39.44sINFOros2_control_node[2026-06-03 14:10:05.316] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	38.2s	2 errors · 76 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 (5.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Accepted new action goal + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Got request to cancel active goal. + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495611.74704623 seconds ×2 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495612.31473613 seconds. ×2 + 1.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495612.43487096 seconds ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495613.09302521 seconds. ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Received new action goal + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Accepted new action goal + 33.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 33.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 33.77sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 33.81sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution" + 33.81sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution"[0m + 33.96sINFOobjective_server_nodePath shortcutter: [X___________X] + 33.97sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 33.98sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 34.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 34.04sINFOobjective_server_nodeFound path in 1 iterations (0.00334129 s). + 34.13sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 34.20sINFOros2_control_node[2026-06-03 14:07:24.992] [info] Received new action goal + 34.20sINFOros2_control_node[2026-06-03 14:07:24.992] [info] Accepted new action goal + 36.72sINFOros2_control_node[2026-06-03 14:07:27.514] [info] Received new action goal + 36.72sINFOros2_control_node[2026-06-03 14:07:27.514] [info] Accepted new action goal + 38.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 38.50sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Received new action goal + 38.51sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Accepted new action goal + 39.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495650.68318415 seconds ×2 + 40.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495651.28831530 seconds. ×2 + 40.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495651.36844063 seconds ×2 + 40.91sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 40.91sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 41.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495651.95085192 seconds. ×2 + 41.27sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 41.27sINFOobjective_server_nodePath shortcutter: [X_____________X] + 41.28sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Received new action goal + 41.28sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Accepted new action goal + 41.41sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 41.41sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	31.5s	116 errors · 1125 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×216 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×158 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×216 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×158 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×138 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×138 + 0.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.431128) + 0.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.431128)[0m + 0.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.491127) + 0.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.491127)[0m + 0.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.791127) + 0.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.791127)[0m + 0.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.801127) + 0.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.811128) + 0.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.801127)[0m + 0.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.811128)[0m + 0.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.831128) ×2 + 0.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.831128)[0m ×2 + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.901127) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.901127)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.921127) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.921127)[0m + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.961128) + 0.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.961128)[0m + 0.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.981128) + 0.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.981128)[0m + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.091128) + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.091128)[0m + 0.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.131128) + 0.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.131128)[0m + 0.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.271127) + 0.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.271127)[0m + 0.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.291127) + 0.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.291127)[0m + 0.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.311128) + 0.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.311128)[0m + 0.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.331128) + 0.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.331128)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.481128) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.481128)[0m + 1.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.501127) ×2 + 1.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.501127)[0m ×2 + 1.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.511127) + 1.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.511127)[0m + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.531127) ×2 + 1.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.531127)[0m ×2 + 1.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.771127) + 1.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.771127)[0m + 1.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.861127) + 1.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.861127)[0m + 1.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.901127) + 1.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.901127)[0m + 1.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.941128) + 1.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.941128)[0m + 1.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.991127) + 1.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.991127)[0m + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.191128) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.191128)[0m + 1.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.261127) + 1.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.261127)[0m + 1.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.271127) + 1.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.271127)[0m + 1.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.281127) + 1.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.281127)[0m + 1.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.291127) + 1.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.291127)[0m + 1.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.311128) + 1.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.311128)[0m + 1.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.331128) ×2 + 1.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.331128)[0m ×2 + 2.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.431128) + 2.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.431128)[0m + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.441128) + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.441128)[0m + 2.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.451128) + 2.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.451128)[0m + 2.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.571128) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.571128)[0m + 2.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.611128) + 2.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.611128)[0m + 2.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.631128) + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.631128)[0m + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.731128) + 2.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.731128)[0m + 2.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.751127) + 2.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.751127)[0m + 2.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.781127) + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.781127)[0m + 2.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.791127) + 2.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.801127) + 2.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.791127)[0m + 2.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.801127)[0m + 2.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.961128) + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.961128)[0m + 2.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.971128) ×2 + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.971128)[0m ×2 + 2.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.981128) + 2.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.981128)[0m + 2.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.001127) + 2.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.001127)[0m + 2.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.041127) + 2.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.041127)[0m + 3.10sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780495868.51571870 seconds ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.521127) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.521127)[0m + 3.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.561127) + 3.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.561127)[0m + 3.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.591128) + 3.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.591128)[0m + 3.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.611128) ×2 + 3.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.611128)[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780495869.16323280 seconds. ×2 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.01sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.01sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.93sINFOobjective_server_nodeFound path in 6 iterations (0.00528291 s). + 5.00sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 5.01sINFOros2_control_node[2026-06-03 14:11:10.428] [info] Received new action goal + 5.01sINFOros2_control_node[2026-06-03 14:11:10.429] [info] Accepted new action goal + 14.38sINFOobjective_server_node[0;m[0;93m2026-06-03 14:11:19.801156038 [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 + 14.38sINFOobjective_server_node[0;93m2026-06-03 14:11:19.801194819 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.89sINFOobjective_server_node[0;93m2026-06-03 14:11:20.306329196 [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 + 14.89sINFOobjective_server_node[0;93m2026-06-03 14:11:20.306363277 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.02sINFOobjective_server_node[0;93m2026-06-03 14:11:20.427784565 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 15.02sINFOobjective_server_node[0;93m2026-06-03 14:11:20.430996013 [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 + 15.02sINFOobjective_server_node[0;93m2026-06-03 14:11:20.431013193 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.37sINFOobjective_server_node[0;93m2026-06-03 14:11:20.783022422 [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 + 15.38sINFOobjective_server_node[0;93m2026-06-03 14:11:20.796919471 [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 + 15.38sINFOobjective_server_node[0;93m2026-06-03 14:11:20.796954711 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.33sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 16.63sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/masks_visualization" + 16.63sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/masks_visualization"[0m + 19.58sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 19.65sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 19.65sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m + 19.94sINFOobjective_server_nodeFound path in 4 iterations (0.00317227 s). + 20.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 20.03sINFOobjective_server_nodeFound path in 12 iterations (0.00407 s). + 20.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 20.12sINFOobjective_server_nodeFound path in 2 iterations (0.00370469 s). + 20.16sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] + 20.18sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 20.21sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 20.22sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 20.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 20.28sINFOobjective_server_nodeFound path in 12 iterations (0.00628701 s). + 20.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 20.36sINFOobjective_server_nodeFound path in 1 iterations (0.00439866 s). + 20.40sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 20.42sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 20.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 20.47sINFOobjective_server_nodeFound path in 4 iterations (0.00552376 s). + 20.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 20.59sINFOobjective_server_nodeFound path in 62 iterations (0.0153565 s). + 20.67sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X________________________________________X] + 20.71sINFOobjective_server_nodeFound path in 1 iterations (0.00652389 s). + 20.75sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 20.78sINFOobjective_server_nodeFound path in 1 iterations (0.00270428 s). + 20.85sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 20.87sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 20.91sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 20.93sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 20.97sINFOobjective_server_nodePath shortcutter: [X____________________________________________________X] + 21.10sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X] + 21.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 21.17sINFOros2_control_node[2026-06-03 14:11:26.578] [info] Received new action goal + 21.17sINFOros2_control_node[2026-06-03 14:11:26.578] [info] Accepted new action goal + 26.16sINFOros2_control_node[2026-06-03 14:11:31.580] [info] Received new action goal + 26.16sINFOros2_control_node[2026-06-03 14:11:31.580] [info] Accepted new action goal + 27.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 27.88sINFOros2_control_node[2026-06-03 14:11:33.300] [info] Received new action goal + 27.88sINFOros2_control_node[2026-06-03 14:11:33.300] [info] Accepted new action goal + 29.08sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 29.13sINFOros2_control_node[2026-06-03 14:11:34.541] [info] Received new action goal + 29.13sINFOros2_control_node[2026-06-03 14:11:34.541] [info] Accepted new action goal + 34.55sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780495899.96637559 seconds ×2 + 35.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780495900.66725516 seconds. ×2 + 35.31sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 35.31sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 35.31sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 35.31sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 35.31sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 35.31sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 35.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 35.46sINFOobjective_server_nodePath shortcutter: [X______X] + 35.47sINFOros2_control_node[2026-06-03 14:11:40.891] [info] Received new action goal + 35.47sINFOros2_control_node[2026-06-03 14:11:40.891] [info] Accepted new action goal + 37.54sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.75% of iterations over budget over 5:10.012 of wall time (706/94591). 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	294 errors · 8025 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1770 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1623 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1770 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1623 + 3.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495804.43277431 seconds ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! ×604 + 3.59sINFOros2_control_nodeGoal reached, success![0m ×604 + 3.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495805.13941050 seconds. ×2 + 3.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.96sINFOros2_control_node[2026-06-03 14:10:05.316] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-03 14:10:05.316] [info] Accepted new action goal + 7.79sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 7.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 15.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495816.619792) + 15.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495816.619792)[0m + 15.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495816.919792) + 15.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495816.919792)[0m + 15.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.029792) + 15.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.029792)[0m + 15.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.209792) + 15.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.209792)[0m + 15.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.219792) + 15.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.229792) + 15.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.219792)[0m + 15.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.229792)[0m + 16.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.639792) + 16.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.639792)[0m + 16.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.689792) + 16.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.689792)[0m + 16.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.799792) + 16.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.799792)[0m + 16.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.869792) + 16.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.869792)[0m + 16.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.889792) + 16.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495817.889792)[0m + 16.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.009792) + 16.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.009792)[0m + 16.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.059792) + 16.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.059792)[0m + 17.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.499792) + 17.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.499792)[0m + 17.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.709792) + 17.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.719792) + 17.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.729792) + 17.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.709792)[0m + 17.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.719792)[0m + 17.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495818.729792)[0m + 17.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.049792) + 17.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.049792)[0m + 17.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.319792) + 17.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.319792)[0m + 18.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.369792) + 18.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.369792)[0m + 18.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.469792) + 18.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.479792) + 18.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.469792)[0m + 18.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.479792)[0m + 18.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.549792) + 18.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.549792)[0m + 18.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.829792) + 18.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.829792)[0m + 18.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.959792) + 18.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.969792) + 18.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.959792)[0m + 18.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.969792)[0m + 18.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.989792) + 18.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495819.989792)[0m + 18.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.029792) + 18.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.029792)[0m + 18.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.179792) + 18.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.189792) + 18.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.179792)[0m + 18.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.189792)[0m + 18.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.209792) + 18.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.219792) + 18.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.209792)[0m + 18.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.219792)[0m + 19.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.459792) + 19.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.459792)[0m + 19.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.479792) + 19.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.479792)[0m + 19.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.619792) + 19.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.619792)[0m + 19.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.649792) + 19.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.649792)[0m + 19.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.899792) + 19.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.899792)[0m + 19.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.909792) + 19.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.909792)[0m + 19.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.989792) + 19.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.999792) + 19.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.989792)[0m + 19.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495820.999792)[0m + 19.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.019792) + 19.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.019792)[0m + 19.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.059792) + 19.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.059792)[0m + 19.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.339792) + 19.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.339792)[0m + 20.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.379792) + 20.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.389792) + 20.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.379792)[0m + 20.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.389792)[0m + 20.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.489792) + 20.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.489792)[0m + 20.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.539792) + 20.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.539792)[0m + 20.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.559792) + 20.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.559792)[0m + 20.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.699792) + 20.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.699792)[0m + 20.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.729792) ×2 + 20.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.729792)[0m ×2 + 20.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.749792) + 20.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495821.749792)[0m + 21.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.419792) + 21.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.419792)[0m + 21.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.439792) + 21.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.449792) + 21.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.439792)[0m + 21.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.449792)[0m + 21.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.529792) + 21.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.529792)[0m + 21.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.549792) + 21.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.549792)[0m + 21.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.569792) + 21.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.569792)[0m + 21.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.579792) + 21.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.579792)[0m + 21.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.689792) + 21.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.689792)[0m + 21.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.729792) ×2 + 21.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.729792)[0m ×2 + 21.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.909792) + 21.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495822.909792)[0m + 21.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.019792) + 21.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.019792)[0m + 21.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.069792) + 21.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.069792)[0m + 21.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.089792) + 21.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.089792)[0m + 21.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.229792) + 21.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.239792) + 21.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.249792) + 21.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.229792)[0m + 21.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.239792)[0m + 21.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.249792)[0m + 21.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.259792) + 21.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.259792)[0m + 22.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.859792) + 22.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.859792)[0m + 22.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.899792) + 22.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.899792)[0m + 22.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.979792) + 22.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.979792)[0m + 22.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.989792) + 22.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.989792)[0m + 22.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.999792) + 22.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495823.999792)[0m + 22.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.049792) + 22.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.049792)[0m + 22.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.299792) + 22.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.299792)[0m + 22.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.319792) + 22.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.319792)[0m + 23.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.349792) + 23.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.349792)[0m + 23.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.379792) + 23.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.379792)[0m + 23.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.479792) + 23.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.479792)[0m + 23.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.499792) + 23.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.499792)[0m + 23.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.519792) + 23.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.519792)[0m + 23.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.539792) + 23.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.539792)[0m + 23.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.669792) + 23.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.669792)[0m + 23.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.689792) ×2 + 23.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.689792)[0m ×2 + 23.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.699792) + 23.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.699792)[0m + 23.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.719792) ×2 + 23.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495824.719792)[0m ×2 + 23.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.309792) + 23.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.309792)[0m + 24.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.359792) + 24.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.359792)[0m + 24.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.379792) + 24.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.389792) + 24.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.379792)[0m + 24.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.389792)[0m + 24.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.479792) + 24.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.479792)[0m + 24.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.519792) + 24.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.519792)[0m + 24.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.539792) + 24.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.539792)[0m + 24.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.619792) + 24.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.619792)[0m + 24.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.649792) + 24.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.649792)[0m + 24.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.679792) + 24.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.679792)[0m + 24.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.889792) + 24.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495825.889792)[0m + 24.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.009792) + 24.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.009792)[0m + 24.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.029792) + 24.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.029792)[0m + 24.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.039792) + 24.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.039792)[0m + 24.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.209792) + 24.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.219792) + 24.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.209792)[0m + 24.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.219792)[0m + 24.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.229792) + 24.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.239792) + 24.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.229792)[0m + 24.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.239792)[0m + 24.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.279792) + 24.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.279792)[0m + 25.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.619792) + 25.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.619792)[0m + 25.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.639792) + 25.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.649792) + 25.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.639792)[0m + 25.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.649792)[0m + 25.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.899792) + 25.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.899792)[0m + 25.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.979792) ×2 + 25.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.979792)[0m ×2 + 25.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.019792) + 25.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.019792)[0m + 25.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.109792) + 25.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.109792)[0m + 25.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.149792) + 25.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.149792)[0m + 25.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.169792) + 25.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.169792)[0m + 25.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.329792) + 25.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.329792)[0m + 26.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.359792) + 26.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.359792)[0m + 26.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.459792) ×2 + 26.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.459792)[0m ×2 + 26.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.489792) + 26.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.489792)[0m + 26.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.519792) + 26.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.519792)[0m + 26.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.669792) + 26.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.679792) ×2 + 26.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.669792)[0m + 26.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.679792)[0m ×2 + 26.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.699792) + 26.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.699792)[0m + 26.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.109792) + 26.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.109792)[0m + 27.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.369792) + 27.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.369792)[0m + 27.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.439792) + 27.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.449792) + 27.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.439792)[0m + 27.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.449792)[0m + 27.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.459792) + 27.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.459792)[0m + 27.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.479792) + 27.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.479792)[0m + 27.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.499792) + 27.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.499792)[0m + 27.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.509792) + 27.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.519792) + 27.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.509792)[0m + 27.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.519792)[0m + 27.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.609792) + 27.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.609792)[0m + 27.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.629792) + 27.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.629792)[0m + 27.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.659792) + 27.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.659792)[0m + 27.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.999792) + 27.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.999792)[0m + 27.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.019792) + 27.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.019792)[0m + 27.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.179792) + 27.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.189792) + 27.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.199792) ×2 + 27.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.179792)[0m + 27.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.189792)[0m + 27.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.199792)[0m ×2 + 27.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495829.23235846 seconds ×2 + 28.50sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780495829.85472345 seconds. ×2 + 28.66sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 28.67sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 28.67sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 28.70sINFOros2_control_node[2026-06-03 14:10:30.050] [info] Received new action goal + 28.70sINFOros2_control_node[2026-06-03 14:10:30.050] [info] Accepted new action goal
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.8s	2 errors · 59 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.09sINFOobjective_server_nodeFound path in 1 iterations (0.00388835 s). + 0.22sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.26sINFOros2_control_node[2026-06-03 14:08:04.069] [info] Received new action goal + 0.26sINFOros2_control_node[2026-06-03 14:08:04.069] [info] Accepted new action goal + 0.51sINFOros2_control_node[2026-06-03 14:08:04.314] [info] Got request to cancel active goal. + 0.51sINFOros2_control_node[2026-06-03 14:08:04.314] [info] Canceling active goal... + 0.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780495684.32052875 seconds ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.14sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780495684.94604397 seconds. ×2 + 1.26sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.26sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.26sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.26sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.32sINFOros2_control_node[2026-06-03 14:08:05.130] [info] Received new action goal + 1.32sINFOros2_control_node[2026-06-03 14:08:05.130] [info] Accepted new action goal + 3.77sINFOros2_control_node[2026-06-03 14:08:07.574] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 14:08:07.574] [info] Accepted new action goal + 12.33sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780495696.13937497 seconds ×2 + 12.96sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495696.77139854 seconds. ×2 + 13.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 13.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 13.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495696.84168863 seconds ×2 + 13.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495697.39878178 seconds. ×2 + 13.71sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 13.71sINFOobjective_server_nodePath shortcutter: [X______X] + 13.71sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Received new action goal + 13.72sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Accepted new action goal + 15.72sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495699.52894187 seconds ×2 + 16.29sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495700.10036182 seconds. ×2
✓ passed	Push Button	move_with_velocity_and_force.xml	11.7s	2 errors · 54 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.10sINFOros2_control_node[2026-06-03 14:09:12.976] [info] Received new action goal + 1.10sINFOros2_control_node[2026-06-03 14:09:12.976] [info] Accepted new action goal + 2.25sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780495754.13197398 seconds ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780495754.86660528 seconds. ×2 + 3.37sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.37sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.25sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.27sINFOros2_control_node[2026-06-03 14:09:16.149] [info] Received new action goal + 4.27sINFOros2_control_node[2026-06-03 14:09:16.149] [info] Accepted new action goal + 7.98sINFOobjective_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 (4.2e-07 s). + 10.37sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.39sINFOros2_control_node[2026-06-03 14:09:22.266] [info] Received new action goal + 10.39sINFOros2_control_node[2026-06-03 14:09:22.266] [info] Accepted new action goal + 14.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780495765.87677407 seconds ×2 + 14.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495766.44542408 seconds. ×2 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 14.73sINFOobjective_server_nodePath shortcutter: [X___X] + 14.73sINFOros2_control_node[2026-06-03 14:09:26.610] [info] Received new action goal + 14.73sINFOros2_control_node[2026-06-03 14:09:26.610] [info] Accepted new action goal + 14.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 14.97sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 16.00sINFOobjective_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 + 16.00sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 17.23sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 17.25sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'.
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.1s	2 errors · 47 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780495932.14143419 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.59sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780495932.73107266 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X________X] + 0.72sINFOros2_control_node[2026-06-03 14:12:12.856] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 14:12:12.856] [info] Accepted new action goal + 0.91sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 0.91sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 2.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 11.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495943.30130601 seconds ×2 + 11.82sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495943.95956087 seconds. ×2 + 11.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495944.03973031 seconds ×2 + 12.01sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 12.01sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.45sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495944.59580541 seconds. ×2 + 12.49sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 12.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495944.63115072 seconds ×2 + 13.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495945.20652437 seconds. ×2 + 13.17sINFOobjective_server_nodePath shortcutter: [X___X] + 13.17sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Received new action goal + 13.17sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Accepted new action goal
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.1s	4 errors · 100 info
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 0.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.16sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution" + 0.16sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 0.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×3 + 0.28sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). + 0.29sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 0.45sINFOobjective_server_nodeFound path in 1 iterations (0.00303397 s). + 0.53sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 0.56sINFOobjective_server_nodeFound path in 1 iterations (0.00470052 s). + 0.63sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.78sINFOros2_control_node[2026-06-03 14:07:51.481] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-03 14:07:51.481] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-03 14:07:53.215] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-03 14:07:53.215] [info] Canceling active goal... + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780495673.24006772 seconds ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780495673.83353019 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.22sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.22sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.22sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.22sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.33sINFOobjective_server_nodePath shortcutter: [X______X] + 3.33sINFOros2_control_node[2026-06-03 14:07:54.037] [info] Received new action goal + 3.33sINFOros2_control_node[2026-06-03 14:07:54.037] [info] Accepted new action goal + 9.76sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 9.76sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 9.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×3 + 9.92sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 10.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 10.05sINFOobjective_server_nodeFound path in 1 iterations (0.00254615 s). + 10.16sINFOobjective_server_nodeFound path in 1 iterations (0.0037812 s). + 10.25sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.37sINFOros2_control_node[2026-06-03 14:08:01.071] [info] Received new action goal + 10.37sINFOros2_control_node[2026-06-03 14:08:01.071] [info] Accepted new action goal + 13.11sINFOobjective_server_nodePath shortcutter: [X_X] + 13.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.12sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 13.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 13.20sINFOobjective_server_nodeFound path in 1 iterations (0.00388835 s). + 13.32sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 13.37sINFOros2_control_node[2026-06-03 14:08:04.069] [info] Received new action goal + 13.37sINFOros2_control_node[2026-06-03 14:08:04.069] [info] Accepted new action goal + 13.61sINFOros2_control_node[2026-06-03 14:08:04.314] [info] Got request to cancel active goal. + 13.61sINFOros2_control_node[2026-06-03 14:08:04.314] [info] Canceling active goal... + 13.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780495684.32052875 seconds ×2 + 14.24sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780495684.94604397 seconds. ×2 + 14.36sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.36sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.36sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.36sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.43sINFOros2_control_node[2026-06-03 14:08:05.130] [info] Received new action goal + 14.43sINFOros2_control_node[2026-06-03 14:08:05.130] [info] Accepted new action goal + 16.87sINFOros2_control_node[2026-06-03 14:08:07.574] [info] Received new action goal + 16.87sINFOros2_control_node[2026-06-03 14:08:07.574] [info] Accepted new action goal
✓ passed	Stationary Admittance	stationary_admittance.xml	11.1s	4 errors · 2 warnings · 62 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780495943.30130601 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495943.95956087 seconds. ×2 + 0.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495944.03973031 seconds ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495944.59580541 seconds. ×2 + 1.33sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495944.63115072 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495945.20652437 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Accepted new action goal + 5.33sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.33sINFOros2_control_node[2026-06-03 14:12:28.630] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-03 14:12:28.630] [info] Accepted new action goal + 5.33sINFOros2_control_node[2026-06-03 14:12:28.630] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.39sINFOros2_control_node[2026-06-03 14:12:35.694] [info] Got request to cancel active goal. + 12.39sINFOros2_control_node[2026-06-03 14:12:35.695] [info] Canceling active goal... + 12.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495955.70348668 seconds ×2 + 13.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495956.35157251 seconds. ×2 + 13.45sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 13.45sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 15.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495958.63172603 seconds ×2 + 15.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495959.19501734 seconds. ×2 + 15.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 15.89sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 15.90sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 15.90sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495959.19715643 seconds ×2 + 15.97sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.97sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg" + 15.97sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 15.97sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg"[0m
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.0s	2 errors · 82 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 0.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 1.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 1.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 1.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 1.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 2.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 2.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.83sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 2.84sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.84sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 2.84sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 4.38sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 4.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 5.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.27sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 5.27sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Accepted new action goal + 8.98sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 8.99sINFOros2_control_node[2026-06-03 14:06:47.576] [info] Received new action goal + 8.99sINFOros2_control_node[2026-06-03 14:06:47.576] [info] Accepted new action goal + 12.30sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 12.30sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.31sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Received new action goal + 12.31sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Accepted new action goal + 13.14sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Got request to cancel active goal. + 13.14sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Canceling active goal... + 13.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495611.74704623 seconds ×2 + 13.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495612.31473613 seconds. ×2 + 13.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495612.43487096 seconds ×2 + 14.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495613.09302521 seconds. ×2 + 14.76sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.77sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 15.69sINFOobjective_server_nodePath shortcutter: [X______X] + 15.70sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Received new action goal + 15.70sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Accepted new action goal
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	4 errors · 73 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal + 8.33sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/pcd_pointcloud_captures" + 8.33sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/pcd_pointcloud_captures"[0m + 8.83sINFOfoxglove_bridgeRemoving channel 61 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 8.83sINFOfoxglove_bridgeRemoving channel 61 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 10.69sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.69sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 10.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.85sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution" + 10.85sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 10.97sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 10.97sINFOobjective_server_nodePath shortcutter: [X__________X] + 10.98sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). + 10.98sINFOobjective_server_nodePath shortcutter: [X________________X] + 10.99sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 11.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 11.04sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 11.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 11.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 11.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 11.14sINFOobjective_server_nodeFound path in 1 iterations (0.00303397 s). + 11.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 11.25sINFOobjective_server_nodeFound path in 1 iterations (0.00470052 s). + 11.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 11.34sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 11.42sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 11.47sINFOros2_control_node[2026-06-03 14:07:51.481] [info] Received new action goal + 11.47sINFOros2_control_node[2026-06-03 14:07:51.481] [info] Accepted new action goal + 13.20sINFOros2_control_node[2026-06-03 14:07:53.215] [info] Got request to cancel active goal. + 13.20sINFOros2_control_node[2026-06-03 14:07:53.215] [info] Canceling active goal... + 13.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780495673.24006772 seconds ×2 + 13.82sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780495673.83353019 seconds. ×2 + 13.91sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.91sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.91sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.91sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.03sINFOros2_control_node[2026-06-03 14:07:54.037] [info] Received new action goal + 14.03sINFOros2_control_node[2026-06-03 14:07:54.037] [info] Accepted new action goal
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	10.9s	21 errors · 2 warnings · 135 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495958.63172603 seconds ×2 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.44sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495959.19501734 seconds. ×2 + 2.44sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.44sINFOobjective_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 + 2.44sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.44sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495959.19715643 seconds ×2 + 2.52sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.52sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg" + 2.52sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.52sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg"[0m + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495959.75761747 seconds. ×2 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495959.75805998 seconds ×2 + 3.03sINFOfoxglove_bridgeRemoving channel 77 for topic "/secret_msg" (std_msgs/msg/String) + 3.03sINFOfoxglove_bridgeRemoving channel 77 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495960.31453037 seconds. ×2 + 4.04sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 4.04sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 4.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495961.09467149 seconds ×2 + 4.38sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.54sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.30sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 6.22sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 6:10.018 of wall time (793/112966). Below 1% is expected on a non-realtime system.[0m + 10.30sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.30sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.30sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.31sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.31sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.31sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.31sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.31sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.31sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.32sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.32sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.32sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.32sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.32sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 10.33sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 10.33sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 10.34sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 10.35sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 10.36sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 10.37sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 10.37sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 10.38sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 10.39sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 10.40sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 10.40sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 10.42sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 10.42sINFOcontroller_managerShutdown request received.... + 10.42sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.42sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.42sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.42sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.42sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.42sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.42sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 10.42sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.42sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.42sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.42sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.42sINFOcontroller_managerShutting down the controller manager. + 10.42sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 10.42sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 10.42sERRORui_teleop_bridgeTraceback (most recent call last): + 10.42sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 10.42sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 10.42sINFOui_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 + 10.42sINFOui_teleop_bridgerclpy.shutdown() + 10.42sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 10.42sINFOui_teleop_bridge_shutdown(context=context) + 10.42sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 10.42sINFOui_teleop_bridgereturn context.shutdown() + 10.42sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 10.42sINFOui_teleop_bridgeself.__context.shutdown() + 10.42sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 10.42sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.42sINFOros2_control_nodeShutdown request received....[0m + 10.42sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 10.42sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 10.42sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 10.42sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 10.42sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 10.42sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 10.42sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 10.42sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 10.42sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 10.42sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 10.42sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 10.42sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 10.42sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 10.42sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 10.42sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 10.42sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 10.42sINFOros2_control_nodeShutting down the controller manager.[0m + 10.46sINFOobjective_server_node[0;m[2026-06-03 14:12:47.218] [moveit_pro_license] [info] + 10.46sINFOobjective_server_node************************************************* ×2 + 10.47sINFOobjective_server_node* MoveIt Pro License + 10.47sINFOobjective_server_node* Application has successfully terminated + 10.54sINFOtf2_web_republisher_node-19process has finished cleanly [pid 26614] + 10.54sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 10.55sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 10.55sERRORobjective_server_nodeStack trace (most recent call last): + 10.55sINFOweb_video_server-20process has finished cleanly [pid 26642] + 10.57sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 10.57sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f504c094e4, in _start + 10.57sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7effac58fe3f, in __libc_start_main + 10.57sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7effac58fd96, in + 10.57sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7effac5ab60f, in exit + 10.57sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7effac5ab494, in + 10.57sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7effaca32251, in spdlog::details::registry::~registry() + 10.57sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7effaca3ce66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() + 10.57sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f504c0ecba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 10.57sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f504c0bbf3, in spdlog_ros::RosSink::~RosSink() + 10.57sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f504c10e01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 10.57sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7effacf29b2e, in rclcpp::Node::~Node() + 10.57sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7effacf04d39, in + 10.57sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7effacf330b9, in + 10.57sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7effacf33000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 10.57sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7effacf04d39, in + 10.57sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7effacf09b31, in rclcpp::CallbackGroup::~CallbackGroup() + 10.57sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7eff5fde93f0]) + 10.58sERRORui_teleop_bridge-17process has died [pid 26601, 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_1kkoikmn']. + 10.62sINFOfoxglove_bridgeShutdown complete[0m + 10.63sINFOexecute_objective_bridge-16process has finished cleanly [pid 26599] + 11.35sERRORobjective_server_node_main-14process has died [pid 26595, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_jo3luezk --params-file /tmp/launch_params_p6tddzxd --params-file /tmp/launch_params_gj9aq909 --params-file /tmp/launch_params_eorvedon --params-file /tmp/launch_params_40ah4ye5 --params-file /tmp/launch_params_kcxuaer4']. + 11.35sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 11.42sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 26593] + 11.43sINFOmove_joint_resampler_node-12process has finished cleanly [pid 26591] + 11.45sINFOparameter_manager_node-10process has finished cleanly [pid 26550] + 11.47sINFOwaypoint_manager_node-11process has finished cleanly [pid 26589] + 11.57sINFOcomponent_container_mt-15process has finished cleanly [pid 26597] + 11.73sINFOmove_group-9process has finished cleanly [pid 26547] + 12.42sINFOfoxglove_bridge-18process has finished cleanly [pid 26605] + 12.42sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system + 12.83sINFOros2_control_node-1process has finished cleanly [pid 26528]
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	4 errors · 32 info
+ 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 11.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780495921.69701242 seconds ×2 + 12.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780495922.25714612 seconds. ×2 + 12.60sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 12.61sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.67sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 12.68sINFOobjective_server_nodePath shortcutter: [X________________X] + 12.70sINFOros2_control_node[2026-06-03 14:12:02.537] [info] Received new action goal + 12.70sINFOros2_control_node[2026-06-03 14:12:02.538] [info] Accepted new action goal
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.9s	2 errors · 65 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495650.68318415 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495651.28831530 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495651.36844063 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495651.95085192 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Accepted new action goal + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [info] Accepted new action goal + 8.85sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 8.86sINFOros2_control_node[2026-06-03 14:07:37.768] [info] Received new action goal + 8.86sINFOros2_control_node[2026-06-03 14:07:37.768] [info] Accepted new action goal + 11.19sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 11.20sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 11.20sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 13.32sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 13.32sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 13.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 13.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 14.05sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 14.38sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 14.38sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 14.38sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 14.38sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 15.11sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 15.11sINFOobjective_server_nodePath shortcutter: [X______X] + 15.12sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 15.12sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	10.8s	2 errors · 63 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780495899.96637559 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780495900.66725516 seconds. ×2 + 1.83sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.83sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.83sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.83sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.83sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.83sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.98sINFOobjective_server_nodePath shortcutter: [X______X] + 1.99sINFOros2_control_node[2026-06-03 14:11:40.891] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 14:11:40.891] [info] Accepted new action goal + 4.06sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.75% of iterations over budget over 5:10.012 of wall time (706/94591). Below 1% is expected on a non-realtime system.[0m + 7.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.93sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X___________X] + 8.22sINFOobjective_server_nodePath shortcutter: [X_________________X] + 8.23sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 8.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 8.27sINFOobjective_server_nodeFound path in 1 iterations (0.00305274 s). + 8.37sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 8.38sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 8.39sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution" + 8.40sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution"[0m + 8.41sINFOros2_control_node[2026-06-03 14:11:47.314] [info] Received new action goal + 8.42sINFOros2_control_node[2026-06-03 14:11:47.314] [info] Accepted new action goal + 10.94sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 10.94sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 11.90sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 11.90sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 11.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 12.54sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 12.64sINFOobjective_server_nodePath shortcutter: [X________X] + 12.65sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 12.65sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 12.96sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.96sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.97sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.97sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.5s	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: 1780495921.69701242 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780495922.25714612 seconds. ×2 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.75sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.82sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.83sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.85sINFOros2_control_node[2026-06-03 14:12:02.537] [info] Received new action goal + 0.85sINFOros2_control_node[2026-06-03 14:12:02.538] [info] Accepted new action goal + 4.86sINFOros2_control_node[2026-06-03 14:12:06.552] [info] Received new action goal + 4.86sINFOros2_control_node[2026-06-03 14:12:06.552] [info] Accepted new action goal + 10.44sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780495932.14143419 seconds ×2 + 11.03sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780495932.73107266 seconds. ×2 + 11.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 11.15sINFOobjective_server_nodePath shortcutter: [X________X] + 11.16sINFOros2_control_node[2026-06-03 14:12:12.856] [info] Received new action goal + 11.16sINFOros2_control_node[2026-06-03 14:12:12.856] [info] Accepted new action goal + 11.35sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 11.35sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 13.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	8.4s	77 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495696.77139854 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495696.84168863 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495697.39878178 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495699.52894187 seconds ×2 + 3.33sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495700.10036182 seconds. ×2 + 3.42sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.42sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.44sINFOros2_control_node[2026-06-03 14:08:20.214] [info] Received new action goal + 3.44sINFOros2_control_node[2026-06-03 14:08:20.214] [info] Accepted new action goal + 8.72sINFOobjective_server_node[0;93m2026-06-03 14:08:25.489666003 [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 + 8.72sINFOobjective_server_node[0;93m2026-06-03 14:08:25.489707834 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.29sINFOobjective_server_node[0;93m2026-06-03 14:08:26.057500600 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.29sINFOobjective_server_node[0;93m2026-06-03 14:08:26.057542150 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.42sINFOobjective_server_node[0;93m2026-06-03 14:08:26.193321883 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.43sINFOobjective_server_node[0;93m2026-06-03 14:08:26.196365608 [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 + 9.43sINFOobjective_server_node[0;93m2026-06-03 14:08:26.196397958 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.80sINFOobjective_server_node[0;93m2026-06-03 14:08:26.574914458 [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 + 9.83sINFOobjective_server_node[0;93m2026-06-03 14:08:26.597379582 [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 + 9.83sINFOobjective_server_node[0;93m2026-06-03 14:08:26.597458133 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.20sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780495707.96907496 seconds ×2 + 11.48sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 11.48sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 11.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495708.57597184 seconds. ×2 + 11.99sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.99sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.99sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 11.99sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 12.49sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257672723 [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 + 12.49sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257716404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780587600 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780634661 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.14sINFOobjective_server_node[0;93m2026-06-03 14:08:29.908871309 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 13.14sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912654387 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.14sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912696368 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.47sINFOobjective_server_node[0;93m2026-06-03 14:08:30.238135823 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 13.49sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256701046 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.49sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256737607 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495711.11925650 seconds ×2 + 14.50sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 14.51sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 15.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495711.83150649 seconds. ×2 + 15.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 15.06sINFOros2_control_nodeReceived & accepted new action goal[0m + 15.14sINFOobjective_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 + 15.15sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	3.1s	62 info
+ 0.00sINFOobjective_server_node[0;93m2026-06-03 14:08:25.489666003 [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 14:08:25.489707834 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.57sINFOobjective_server_node[0;93m2026-06-03 14:08:26.057500600 [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 + 0.57sINFOobjective_server_node[0;93m2026-06-03 14:08:26.057542150 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.70sINFOobjective_server_node[0;93m2026-06-03 14:08:26.193321883 [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 + 0.71sINFOobjective_server_node[0;93m2026-06-03 14:08:26.196365608 [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 + 0.71sINFOobjective_server_node[0;93m2026-06-03 14:08:26.196397958 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.09sINFOobjective_server_node[0;93m2026-06-03 14:08:26.574914458 [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 + 1.11sINFOobjective_server_node[0;93m2026-06-03 14:08:26.597379582 [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 + 1.11sINFOobjective_server_node[0;93m2026-06-03 14:08:26.597458133 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.48sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780495707.96907496 seconds ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.76sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.76sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495708.57597184 seconds. ×2 + 3.27sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.27sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.27sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.27sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.77sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257672723 [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 + 3.77sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257716404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.29sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780587600 [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 + 4.29sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780634661 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.42sINFOobjective_server_node[0;93m2026-06-03 14:08:29.908871309 [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 + 4.42sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912654387 [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 + 4.42sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912696368 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.75sINFOobjective_server_node[0;93m2026-06-03 14:08:30.238135823 [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 + 4.77sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256701046 [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 + 4.77sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256737607 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495711.11925650 seconds ×2 + 5.79sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 5.79sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 6.34sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495711.83150649 seconds. ×2 + 6.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.35sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.42sINFOobjective_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 + 6.43sINFOobjective_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 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.70sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.73sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Received new action goal + 6.73sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Accepted new action goal + 6.80sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.80sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 6.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.81sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 9.57sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 9.59sINFOros2_control_node[2026-06-03 14:08:35.078] [info] Received new action goal + 9.59sINFOros2_control_node[2026-06-03 14:08:35.079] [info] Accepted new action goal
✓ passed	Take Scene Camera Snapshot	take_snap.xml	2.9s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-03 14:12:35.694] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 14:12:35.695] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495955.70348668 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495956.35157251 seconds. ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495958.63172603 seconds ×2 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495959.19501734 seconds. ×2 + 3.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.50sINFOobjective_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 + 3.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495959.19715643 seconds ×2 + 3.58sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg" + 3.58sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg"[0m + 4.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495959.75761747 seconds. ×2 + 4.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495959.75805998 seconds ×2 + 4.08sINFOfoxglove_bridgeRemoving channel 77 for topic "/secret_msg" (std_msgs/msg/String) + 4.08sINFOfoxglove_bridgeRemoving channel 77 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495960.31453037 seconds. ×2 + 5.10sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 5.10sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 5.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495961.09467149 seconds ×2 + 5.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.60sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.36sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
✓ passed	Look at Table	look_at_table.xml	2.7s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780495696.13937497 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495696.77139854 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495696.84168863 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495697.39878178 seconds. ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.38sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Received new action goal + 1.38sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495699.52894187 seconds ×2 + 3.96sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495700.10036182 seconds. ×2 + 4.05sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.05sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.08sINFOros2_control_node[2026-06-03 14:08:20.214] [info] Received new action goal + 4.08sINFOros2_control_node[2026-06-03 14:08:20.214] [info] Accepted new action goal
✓ passed	Close Gripper	close_gripper.xml	1.7s	12 warnings · 243 info
+ 0.00sINFOobjective_server_node[2026-06-03 14:06:32.841] [moveit_pro_license] [info] + 0.00sINFOobjective_server_node************************************************* ×2 + 0.00sINFOobjective_server_node* MoveIt Pro License + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.08sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.08sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.08sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.08sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.08sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.08sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.10sINFOcontroller_managerupdate rate is 600 Hz + 0.10sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.10sWARNcontroller_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. + 0.10sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.10sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 0.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.14sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.17sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.17sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.18sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.18sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.18sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.18sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.18sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.18sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.19sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.20sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.20sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.22sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color" + 0.22sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth" + 0.22sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/depth" + 0.22sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/color" + 0.22sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color"[0m + 0.22sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth"[0m + 0.22sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/depth"[0m + 0.22sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/color"[0m + 0.22sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics" + 0.22sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/statistics"[0m + 0.23sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/wrist_camera/points" + 0.23sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/wrist_camera/points"[0m + 0.24sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/camera_info" + 0.24sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/camera_info"[0m + 0.24sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_trajectory_controller/state" + 0.24sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_trajectory_controller/state"[0m + 0.25sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/joint_trajectory" + 0.25sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/controller_state" + 0.25sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.25sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/controller_state"[0m + 0.25sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/failure_reason_collector" + 0.25sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/failure_reason_collector"[0m + 0.25sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/description" + 0.25sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/points" + 0.25sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" + 0.25sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/description"[0m + 0.26sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/points"[0m + 0.26sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m + 0.26sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/transition_event" + 0.26sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_trajectory_controller/transition_event"[0m + 0.33sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.36sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 0.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.43sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 26536] + 0.55sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.55sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.55sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.57sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.57sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.66sINFOros2_control_node[2026-06-03 14:06:33.498] [info] Controller state will be published at 10 Hz. + 0.66sINFOros2_control_node[2026-06-03 14:06:33.499] [info] VelocityForceController 'on_configure' succeeded. + 0.66sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.66sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.66sINFOros2_control_node[2026-06-03 14:06:33.501] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.66sINFOros2_control_node[2026-06-03 14:06:33.501] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.70sINFOros2_control_node[2026-06-03 14:06:33.541] [info] First order lag filter time constant set to: 0.2 seconds + 0.70sINFOros2_control_node[2026-06-03 14:06:33.541] [info] Controller state will be published at 50 Hz. + 0.71sINFOros2_control_node[2026-06-03 14:06:33.547] [info] Registered `FollowJointTrajectory` action server. + 0.71sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.71sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.71sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.71sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.71sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.71sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.71sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.71sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.71sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.71sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.71sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.71sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.71sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.71sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.75sINFOobjective_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. + 0.75sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.76sINFOros2_control_node[2026-06-03 14:06:33.603] [info] Controller state will be published at 20 Hz. + 0.76sINFOros2_control_node[2026-06-03 14:06:33.604] [info] JointVelocityController 'on_configure' succeeded. + 0.76sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.76sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.76sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.77sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.77sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.78sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.88sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.91sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.91sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.96sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.96sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.96sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.97sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.97sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 26541] + 1.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event" + 1.02sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command" + 1.02sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/trajectory_execution_event" + 1.02sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/robotiq_gripper_controller/transition_event" + 1.02sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/trajectory_execution_event"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/robotiq_gripper_controller/transition_event"[0m + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 26530] + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 26534] + 1.03sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/controller_state" + 1.03sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/controller_state"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/transient_monitored_planning_scene_without_octomap" + 1.03sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_velocity_controller/transition_event" + 1.03sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_velocity_controller/transition_event"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_velocity_controller/controller_state" + 1.03sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/command" + 1.03sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_velocity_controller/controller_state"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/command"[0m + 1.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.04sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/visual_markers" + 1.04sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.04sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_state_broadcaster/transition_event" + 1.04sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/visual_markers"[0m + 1.04sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.04sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_state_broadcaster/transition_event"[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/wrench" + 1.05sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/dynamic_joint_states" + 1.05sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/blackboard_contents" + 1.05sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/dynamic_joint_states"[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/blackboard_contents"[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/behavior_tree_status" + 1.05sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/behavior_tree_status"[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 26538] + 1.08sINFOmove_group ×2 + 1.08sINFOmove_group[92mYou can start planning now![0m + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 26544] + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 26532] + 1.39sWARNobjective_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/. + 1.80sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495595.24957585 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495595.25977230 seconds ×2 + 2.86sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.86sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495595.81041718 seconds. ×2 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.38sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495596.97199535 seconds ×2 + 4.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 seconds. ×2 + 5.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 + 6.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 6.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 6.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 7.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 7.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 7.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2
✓ passed	Open Gripper	open_gripper.xml	1.6s	62 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780495595.24957585 seconds. ×2 + 0.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780495595.25977230 seconds ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780495595.81041718 seconds. ×2 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.59sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780495596.97199535 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 seconds. ×2 + 3.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780495598.58374286 seconds ×2 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 5.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 6.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 6.67sINFOobjective_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 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 6.78sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.78sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 6.79sINFOros2_control_node[2026-06-03 14:06:41.427] [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: 1780495696.13937497 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495696.77139854 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495696.84168863 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495697.39878178 seconds. ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.38sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Received new action goal + 1.38sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495699.52894187 seconds ×2 + 3.96sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495700.10036182 seconds. ×2 + 4.05sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.05sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.08sINFOros2_control_node[2026-06-03 14:08:20.214] [info] Received new action goal + 4.08sINFOros2_control_node[2026-06-03 14:08:20.214] [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 (5.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Accepted new action goal + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Got request to cancel active goal. + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495611.74704623 seconds ×2 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495612.31473613 seconds. ×2 + 1.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495612.43487096 seconds ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495613.09302521 seconds. ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Received new action goal + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [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 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495650.68318415 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495651.28831530 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495651.36844063 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495651.95085192 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Accepted new action goal + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [info] Accepted new action goal
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.7s	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: 1780495943.30130601 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495943.95956087 seconds. ×2 + 0.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495944.03973031 seconds ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495944.59580541 seconds. ×2 + 1.33sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495944.63115072 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495945.20652437 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [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: 1780495943.30130601 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495943.95956087 seconds. ×2 + 0.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495944.03973031 seconds ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495944.59580541 seconds. ×2 + 1.33sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495944.63115072 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495945.20652437 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Accepted new action goal
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	2 errors · 2 warnings · 43 info
+ 0.00sINFOros2_control_node[2026-06-03 14:12:35.694] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 14:12:35.695] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495955.70348668 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495956.35157251 seconds. ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495958.63172603 seconds ×2 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495959.19501734 seconds. ×2 + 3.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.50sINFOobjective_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 + 3.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495959.19715643 seconds ×2 + 3.58sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg" + 3.58sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg"[0m + 4.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495959.75761747 seconds. ×2 + 4.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495959.75805998 seconds ×2 + 4.08sINFOfoxglove_bridgeRemoving channel 77 for topic "/secret_msg" (std_msgs/msg/String) + 4.08sINFOfoxglove_bridgeRemoving channel 77 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495960.31453037 seconds. ×2 + 5.10sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 5.10sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 5.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495961.09467149 seconds ×2 + 5.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.60sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.36sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 7.28sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 6:10.018 of wall time (793/112966). Below 1% is expected on a non-realtime system.[0m
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	2 warnings · 39 info
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495956.35157251 seconds. ×2 + 0.40sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.40sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 2.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495958.63172603 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.29sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495959.19501734 seconds. ×2 + 2.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.84sINFOobjective_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 + 2.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495959.19715643 seconds ×2 + 2.92sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.92sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg" + 2.92sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.92sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg"[0m + 3.41sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780495959.75761747 seconds. ×2 + 3.41sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780495959.75805998 seconds ×2 + 3.43sINFOfoxglove_bridgeRemoving channel 77 for topic "/secret_msg" (std_msgs/msg/String) + 3.43sINFOfoxglove_bridgeRemoving channel 77 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780495960.31453037 seconds. ×2 + 4.44sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 4.44sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780495961.09467149 seconds ×2 + 4.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.95sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.70sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 6.62sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 6:10.018 of wall time (793/112966). Below 1% is expected on a non-realtime system.[0m
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− 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: 1780495696.77139854 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495696.84168863 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495697.39878178 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495699.52894187 seconds ×2 + 3.33sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495700.10036182 seconds. ×2 + 3.42sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.42sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.44sINFOros2_control_node[2026-06-03 14:08:20.214] [info] Received new action goal + 3.44sINFOros2_control_node[2026-06-03 14:08:20.214] [info] Accepted new action goal
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	31 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495696.77139854 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495696.84168863 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495697.39878178 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Accepted new action goal + 2.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495699.52894187 seconds ×2 + 3.33sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495700.10036182 seconds. ×2 + 3.42sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.42sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.44sINFOros2_control_node[2026-06-03 14:08:20.214] [info] Received new action goal + 3.44sINFOros2_control_node[2026-06-03 14:08:20.214] [info] Accepted new action goal
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	48 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495708.57597184 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257672723 [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 + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257716404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780587600 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780634661 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.908871309 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912654387 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912696368 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.99sINFOobjective_server_node[0;93m2026-06-03 14:08:30.238135823 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256701046 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256737607 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495711.11925650 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495711.83150649 seconds. ×2 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Accepted new action goal + 4.03sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.83sINFOros2_control_node[2026-06-03 14:08:35.078] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-03 14:08:35.079] [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 (5.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Accepted new action goal + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Got request to cancel active goal. + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495611.74704623 seconds ×2 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495612.31473613 seconds. ×2 + 1.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495612.43487096 seconds ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495613.09302521 seconds. ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Received new action goal + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [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 (5.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Accepted new action goal + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Got request to cancel active goal. + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495611.74704623 seconds ×2 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495612.31473613 seconds. ×2 + 1.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495612.43487096 seconds ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495613.09302521 seconds. ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Received new action goal + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Accepted new action goal
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Accepted new action goal + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Got request to cancel active goal. + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495611.74704623 seconds ×2 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495612.31473613 seconds. ×2 + 1.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495612.43487096 seconds ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495613.09302521 seconds. ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Received new action goal + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [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 (5.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Accepted new action goal + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Got request to cancel active goal. + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495611.74704623 seconds ×2 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495612.31473613 seconds. ×2 + 1.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495612.43487096 seconds ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495613.09302521 seconds. ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Received new action goal + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [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 (5.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Accepted new action goal + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Got request to cancel active goal. + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495611.74704623 seconds ×2 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495612.31473613 seconds. ×2 + 1.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495612.43487096 seconds ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495613.09302521 seconds. ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Received new action goal + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [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 (5.6e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:06:50.896] [info] Accepted new action goal + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Got request to cancel active goal. + 0.93sINFOros2_control_node[2026-06-03 14:06:51.722] [info] Canceling active goal... + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780495611.74704623 seconds ×2 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780495612.31473613 seconds. ×2 + 1.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780495612.43487096 seconds ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780495613.09302521 seconds. ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.48sINFOobjective_server_nodePath shortcutter: [X______X] + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [info] Received new action goal + 3.49sINFOros2_control_node[2026-06-03 14:06:54.287] [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 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495650.68318415 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495651.28831530 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495651.36844063 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495651.95085192 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Accepted new action goal + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [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 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495650.68318415 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495651.28831530 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495651.36844063 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495651.95085192 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Accepted new action goal + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [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 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495650.68318415 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495651.28831530 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495651.36844063 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495651.95085192 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Accepted new action goal + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [info] Accepted new action goal
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Received new action goal + 0.39sINFOros2_control_node[2026-06-03 14:07:29.297] [info] Accepted new action goal + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780495650.68318415 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780495651.28831530 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780495651.36844063 seconds ×2 + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.80sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780495651.95085192 seconds. ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Received new action goal + 3.17sINFOros2_control_node[2026-06-03 14:07:32.075] [info] Accepted new action goal + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.30sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-03 14:07:35.427] [info] Accepted new action goal
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− skipped	Force Relaxation	force_relaxation.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− skipped	Grasp Planning	grasp_planning.xml	0.0s	2 errors · 25 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-03 14:07:40.103] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:07:40.104] [info] Accepted new action goal + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Got request to cancel active goal. + 2.22sINFOros2_control_node[2026-06-03 14:07:42.226] [info] Canceling active goal... + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780495662.23555660 seconds ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.30sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780495662.86465549 seconds. ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 1:10.003 of wall time (120/21551). Below 1% is expected on a non-realtime system.[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.28sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Received new action goal + 4.02sINFOros2_control_node[2026-06-03 14:07:44.029] [info] Accepted new action goal
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	2 errors · 30 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.09sINFOobjective_server_nodeFound path in 1 iterations (0.00388835 s). + 0.22sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.26sINFOros2_control_node[2026-06-03 14:08:04.069] [info] Received new action goal + 0.26sINFOros2_control_node[2026-06-03 14:08:04.069] [info] Accepted new action goal + 0.51sINFOros2_control_node[2026-06-03 14:08:04.314] [info] Got request to cancel active goal. + 0.51sINFOros2_control_node[2026-06-03 14:08:04.314] [info] Canceling active goal... + 0.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780495684.32052875 seconds ×2 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.14sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780495684.94604397 seconds. ×2 + 1.26sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.26sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.26sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.26sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.32sINFOros2_control_node[2026-06-03 14:08:05.130] [info] Received new action goal + 1.32sINFOros2_control_node[2026-06-03 14:08:05.130] [info] Accepted new action goal + 3.77sINFOros2_control_node[2026-06-03 14:08:07.574] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-03 14:08:07.574] [info] Accepted new action goal
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	29 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780495696.13937497 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780495696.77139854 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780495696.84168863 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780495697.39878178 seconds. ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.38sINFOobjective_server_nodePath shortcutter: [X______X] + 1.38sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Received new action goal + 1.38sINFOros2_control_node[2026-06-03 14:08:17.523] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780495699.52894187 seconds ×2 + 3.96sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780495700.10036182 seconds. ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	48 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495708.57597184 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257672723 [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 + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257716404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780587600 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780634661 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.908871309 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912654387 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912696368 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.99sINFOobjective_server_node[0;93m2026-06-03 14:08:30.238135823 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256701046 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256737607 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495711.11925650 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495711.83150649 seconds. ×2 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Accepted new action goal + 4.03sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.83sINFOros2_control_node[2026-06-03 14:08:35.078] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-03 14:08:35.079] [info] Accepted new action goal
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	48 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495708.57597184 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257672723 [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 + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257716404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780587600 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780634661 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.908871309 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912654387 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912696368 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.99sINFOobjective_server_node[0;93m2026-06-03 14:08:30.238135823 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256701046 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256737607 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495711.11925650 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495711.83150649 seconds. ×2 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Accepted new action goal + 4.03sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.83sINFOros2_control_node[2026-06-03 14:08:35.078] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-03 14:08:35.079] [info] Accepted new action goal
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	48 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495708.57597184 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257672723 [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 + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257716404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780587600 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780634661 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.908871309 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912654387 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912696368 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.99sINFOobjective_server_node[0;93m2026-06-03 14:08:30.238135823 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256701046 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256737607 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495711.11925650 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495711.83150649 seconds. ×2 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Accepted new action goal + 4.03sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.83sINFOros2_control_node[2026-06-03 14:08:35.078] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-03 14:08:35.079] [info] Accepted new action goal
− skipped	Move Along Square	move_along_square.xml	0.0s	48 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780495708.57597184 seconds. ×2 + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.51sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.51sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257672723 [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 + 1.01sINFOobjective_server_node[0;93m2026-06-03 14:08:29.257716404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780587600 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:08:29.780634661 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.908871309 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912654387 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 14:08:29.912696368 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.99sINFOobjective_server_node[0;93m2026-06-03 14:08:30.238135823 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256701046 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.01sINFOobjective_server_node[0;93m2026-06-03 14:08:30.256737607 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.87sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780495711.11925650 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780495711.83150649 seconds. ×2 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-03 14:08:32.218] [info] Accepted new action goal + 4.03sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.83sINFOros2_control_node[2026-06-03 14:08:35.078] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-03 14:08:35.079] [info] Accepted new action goal
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	2 errors · 22 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780495765.87677407 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780495766.44542408 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X___X] + 0.73sINFOros2_control_node[2026-06-03 14:09:26.610] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-03 14:09:26.610] [info] Accepted new action goal + 0.97sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.97sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 2.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.01sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 3.23sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 3.25sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'.
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	86 errors · 1222 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×246 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×203 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×246 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×203 + 0.02sINFOjoint_trajectory_controllerGoal reached, success! ×155 + 0.02sINFOros2_control_nodeGoal reached, success![0m ×155 + 0.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.209792) + 0.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.219792) + 0.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.209792)[0m + 0.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.219792)[0m + 0.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.229792) + 0.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.239792) + 0.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.229792)[0m + 0.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.239792)[0m + 0.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.279792) + 0.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.279792)[0m + 0.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.619792) + 0.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.619792)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.639792) + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.649792) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.639792)[0m + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.649792)[0m + 0.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.899792) + 0.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.899792)[0m + 0.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.979792) ×2 + 0.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495826.979792)[0m ×2 + 0.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.019792) + 0.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.019792)[0m + 0.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.109792) + 0.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.109792)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.149792) + 1.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.149792)[0m + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.169792) + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.169792)[0m + 1.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.329792) + 1.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.329792)[0m + 1.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.359792) + 1.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.359792)[0m + 1.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.459792) ×2 + 1.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.459792)[0m ×2 + 1.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.489792) + 1.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.489792)[0m + 1.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.519792) + 1.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.519792)[0m + 1.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.669792) + 1.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.679792) ×2 + 1.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.669792)[0m + 1.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.679792)[0m ×2 + 1.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.699792) + 1.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495827.699792)[0m + 1.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.109792) + 1.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.109792)[0m + 2.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.369792) + 2.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.369792)[0m + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.439792) + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.449792) + 2.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.439792)[0m + 2.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.449792)[0m + 2.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.459792) + 2.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.459792)[0m + 2.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.479792) + 2.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.479792)[0m + 2.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.499792) + 2.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.499792)[0m + 2.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.509792) + 2.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.519792) + 2.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.509792)[0m + 2.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.519792)[0m + 2.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.609792) + 2.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.609792)[0m + 2.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.629792) + 2.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.629792)[0m + 2.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.659792) + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.659792)[0m + 2.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.999792) + 2.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495828.999792)[0m + 2.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.019792) + 2.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.019792)[0m + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.179792) + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.189792) + 3.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.199792) ×2 + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.179792)[0m + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.189792)[0m + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495811.839792) that ends in the past (1780495829.199792)[0m ×2 + 3.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780495829.23235846 seconds ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.71sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780495829.85472345 seconds. ×2 + 3.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.88sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 3.88sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.89sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.91sINFOros2_control_node[2026-06-03 14:10:30.050] [info] Received new action goal + 3.91sINFOros2_control_node[2026-06-03 14:10:30.050] [info] Accepted new action goal
− skipped	Octomap Example	octomap_example.xml	0.0s	116 errors · 1040 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×216 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×158 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×216 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×158 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×138 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×138 + 0.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.431128) + 0.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.431128)[0m + 0.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.491127) + 0.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.491127)[0m + 0.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.791127) + 0.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.791127)[0m + 0.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.801127) + 0.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.811128) + 0.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.801127)[0m + 0.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.811128)[0m + 0.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.831128) ×2 + 0.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.831128)[0m ×2 + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.901127) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.901127)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.921127) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.921127)[0m + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.961128) + 0.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.961128)[0m + 0.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.981128) + 0.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495865.981128)[0m + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.091128) + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.091128)[0m + 0.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.131128) + 0.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.131128)[0m + 0.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.271127) + 0.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.271127)[0m + 0.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.291127) + 0.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.291127)[0m + 0.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.311128) + 0.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.311128)[0m + 0.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.331128) + 0.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.331128)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.481128) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.481128)[0m + 1.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.501127) ×2 + 1.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.501127)[0m ×2 + 1.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.511127) + 1.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.511127)[0m + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.531127) ×2 + 1.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.531127)[0m ×2 + 1.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.771127) + 1.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.771127)[0m + 1.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.861127) + 1.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.861127)[0m + 1.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.901127) + 1.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.901127)[0m + 1.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.941128) + 1.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.941128)[0m + 1.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.991127) + 1.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495866.991127)[0m + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.191128) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.191128)[0m + 1.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.261127) + 1.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.261127)[0m + 1.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.271127) + 1.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.271127)[0m + 1.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.281127) + 1.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.281127)[0m + 1.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.291127) + 1.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.291127)[0m + 1.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.311128) + 1.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.311128)[0m + 1.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.331128) ×2 + 1.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.331128)[0m ×2 + 2.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.431128) + 2.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.431128)[0m + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.441128) + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.441128)[0m + 2.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.451128) + 2.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.451128)[0m + 2.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.571128) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.571128)[0m + 2.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.611128) + 2.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.611128)[0m + 2.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.631128) + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.631128)[0m + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.731128) + 2.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.731128)[0m + 2.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.751127) + 2.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.751127)[0m + 2.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.781127) + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.781127)[0m + 2.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.791127) + 2.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.801127) + 2.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.791127)[0m + 2.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.801127)[0m + 2.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.961128) + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.961128)[0m + 2.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.971128) ×2 + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.971128)[0m ×2 + 2.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.981128) + 2.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495867.981128)[0m + 2.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.001127) + 2.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.001127)[0m + 2.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.041127) + 2.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.041127)[0m + 3.10sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780495868.51571870 seconds ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.521127) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.521127)[0m + 3.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.561127) + 3.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.561127)[0m + 3.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.591128) + 3.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.591128)[0m + 3.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.611128) ×2 + 3.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780495851.041127) that ends in the past (1780495868.611128)[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780495869.16323280 seconds. ×2 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.01sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.01sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.93sINFOobjective_server_nodeFound path in 6 iterations (0.00528291 s). + 5.00sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 5.01sINFOros2_control_node[2026-06-03 14:11:10.428] [info] Received new action goal + 5.01sINFOros2_control_node[2026-06-03 14:11:10.429] [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 + 1.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780495899.96637559 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780495900.66725516 seconds. ×2 + 1.83sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.83sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.83sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.83sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.83sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.83sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X______X] + 1.99sINFOros2_control_node[2026-06-03 14:11:40.891] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 14:11:40.891] [info] Accepted new action goal + 4.06sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.75% of iterations over budget over 5:10.012 of wall time (706/94591). 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 + 1.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780495899.96637559 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780495900.66725516 seconds. ×2 + 1.83sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.83sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.83sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.83sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.83sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.83sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X______X] + 1.99sINFOros2_control_node[2026-06-03 14:11:40.891] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 14:11:40.891] [info] Accepted new action goal + 4.06sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.75% of iterations over budget over 5:10.012 of wall time (706/94591). Below 1% is expected on a non-realtime system.[0m
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	2 errors · 20 info
+ 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	2 errors · 20 info
+ 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	2 errors · 20 info
+ 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick object	pick_object.xml	0.0s	2 errors · 20 info
+ 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	2 errors · 20 info
+ 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	2 errors · 20 info
+ 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	2 errors · 20 info
+ 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	2 errors · 20 info
+ 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place Object	place_object.xml	0.0s	2 errors · 20 info
+ 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:11:49.841] [info] Accepted new action goal + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Got request to cancel active goal. + 0.95sINFOros2_control_node[2026-06-03 14:11:50.797] [info] Canceling active goal... + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780495910.81292677 seconds ×2 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780495911.43668461 seconds. ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.69sINFOobjective_server_nodePath shortcutter: [X________X] + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Received new action goal + 1.71sINFOros2_control_node[2026-06-03 14:11:51.550] [info] Accepted new action goal + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.02sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.02sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.61sINFOobjective_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: 1780495921.69701242 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780495922.25714612 seconds. ×2 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.75sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.75sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.82sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.83sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.85sINFOros2_control_node[2026-06-03 14:12:02.537] [info] Received new action goal + 0.85sINFOros2_control_node[2026-06-03 14:12:02.538] [info] Accepted new action goal
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	16 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780495932.14143419 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.59sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780495932.73107266 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X________X] + 0.72sINFOros2_control_node[2026-06-03 14:12:12.856] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 14:12:12.856] [info] Accepted new action goal + 0.91sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 0.91sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 2.62sINFOobjective_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: 1780495943.30130601 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495943.95956087 seconds. ×2 + 0.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495944.03973031 seconds ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495944.59580541 seconds. ×2 + 1.33sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495944.63115072 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495945.20652437 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [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: 1780495943.30130601 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495943.95956087 seconds. ×2 + 0.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495944.03973031 seconds ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495944.59580541 seconds. ×2 + 1.33sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495944.63115072 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495945.20652437 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [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: 1780495943.30130601 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495943.95956087 seconds. ×2 + 0.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495944.03973031 seconds ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495944.59580541 seconds. ×2 + 1.33sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495944.63115072 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495945.20652437 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [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: 1780495943.30130601 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495943.95956087 seconds. ×2 + 0.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495944.03973031 seconds ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495944.59580541 seconds. ×2 + 1.33sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495944.63115072 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495945.20652437 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [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: 1780495943.30130601 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495943.95956087 seconds. ×2 + 0.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495944.03973031 seconds ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495944.59580541 seconds. ×2 + 1.33sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495944.63115072 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495945.20652437 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [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: 1780495943.30130601 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780495943.95956087 seconds. ×2 + 0.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780495944.03973031 seconds ×2 + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780495944.59580541 seconds. ×2 + 1.33sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780495944.63115072 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780495945.20652437 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Received new action goal + 2.01sINFOros2_control_node[2026-06-03 14:12:25.310] [info] Accepted new action goal
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	2 errors · 2 warnings · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:12:35.694] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 14:12:35.695] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495955.70348668 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495956.35157251 seconds. ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495958.63172603 seconds ×2 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495959.19501734 seconds. ×2 + 3.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.50sINFOobjective_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 + 3.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495959.19715643 seconds ×2 + 3.58sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg" + 3.58sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg"[0m
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	2 errors · 2 warnings · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:12:35.694] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 14:12:35.695] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780495955.70348668 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780495956.35157251 seconds. ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780495958.63172603 seconds ×2 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780495959.19501734 seconds. ×2 + 3.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.50sINFOobjective_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 + 3.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780495959.19715643 seconds ×2 + 3.58sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg" + 3.58sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg"[0m

▾/__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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Accepted new action goal

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

20 skip

− skipped	—	execute_mtc_solution_jtc.xml	0.1s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Accepted new action goal
− skipped	—	interpolate_to_joint_state.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	—	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	—	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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Accepted new action goal
− 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_pose_jtc.xml	0.0s	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Accepted new action goal
− 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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [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	50 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780495597.57357645 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: 1780495598.58374286 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780495599.13881087 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780495599.15928388 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780495599.71843243 seconds. ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780495599.86910224 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780495600.53690457 seconds. ×2 + 3.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780495600.72703218 seconds ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780495601.30119300 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (1.981e-05 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.85sINFOros2_control_node[2026-06-03 14:06:41.426] [info] Received new action goal + 3.85sINFOros2_control_node[2026-06-03 14:06:41.427] [info] Accepted new action goal + 5.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 0:10.002 of wall time (14/3116). Below 1% is expected on a non-realtime system.[0m + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Received new action goal + 6.28sINFOros2_control_node[2026-06-03 14:06:43.849] [info] Accepted new action goal