MoveIt Pro Objective Integration Tests

185

Total objective tests

Objectives passed

Objectives failed

121

Objectives skipped

8.1s

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	17.3s	50 errors · 161 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 + 8.23sWARNINGlaunchuser 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' + 14.16sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.16sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.17sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] + 14.18sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.18sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.18sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.18sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.18sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.18sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] + 14.19sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.20sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.20sERRORros2 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' + 14.20sERRORros2 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' + 14.20sERRORros2 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' + 14.20sERRORros2 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' + 14.20sERRORros2 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' + 14.20sERRORros2 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' + 14.21sERRORros2 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' + 14.21sERRORros2 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' + 14.21sERRORros2 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' + 14.21sERRORros2 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' + 14.21sERRORros2 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' + 14.21sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.21sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.21sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.22sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.22sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.22sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.22sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.22sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] + 14.23sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] + 14.24sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] + 14.25sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 14.25sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] + 14.27sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] + 14.28sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] + 14.29sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] + 14.31sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] + 14.32sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.32sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] + 14.34sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] + 14.35sINFOros2 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] + 14.37sINFOros2 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] + 14.38sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 24348, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. + 14.38sINFOros2 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] + 14.39sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 24346, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. + 14.39sINFOros2 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] + 14.40sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 24344, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. + 14.41sINFOros2 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] + 14.41sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 24341, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 14.42sINFOros2 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] + 14.42sINFOweb_video_server-31process has finished cleanly [pid 24465] + 14.42sINFOtf2_web_republisher_node-30process has finished cleanly [pid 24461] + 14.43sINFOros2 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] + 14.43sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 24338, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. + 14.44sINFOros2 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] + 14.44sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 24335, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. + 14.45sINFOros2 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] + 14.46sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 24333, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. + 14.46sINFOros2 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] + 14.47sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 24331, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. + 14.47sINFOros2 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] + 14.48sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 24263, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. + 14.48sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 24261, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. + 14.48sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] + 14.49sERRORui_teleop_bridge-28process has died [pid 24456, 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_kgs2vdkn']. + 14.49sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] + 14.50sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 24259, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 14.51sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] + 14.51sINFOexecute_objective_bridge-27process has finished cleanly [pid 24378] + 14.52sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] + 14.52sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 24363] + 14.53sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] + 14.53sINFOmove_joint_resampler_node-23process has finished cleanly [pid 24361] + 14.54sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] + 14.56sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] + 14.56sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 14.56sINFOvelocity_smootherCleaning up + 14.56sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 14.56sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 14.56sINFOwaypoint_followerCleaning up + 14.56sINFOwaypoint_manager_node-22process has finished cleanly [pid 24358] + 14.56sINFOparameter_manager_node-21process has finished cleanly [pid 24354] + 14.56sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 14.56sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 14.56sERRORui_teleop_bridgeTraceback (most recent call last): + 14.56sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 14.56sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 14.56sINFOui_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 + 14.56sINFOui_teleop_bridgerclpy.shutdown() + 14.56sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 14.56sINFOui_teleop_bridge_shutdown(context=context) + 14.56sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 14.56sINFOui_teleop_bridgereturn context.shutdown() + 14.56sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 14.56sINFOui_teleop_bridgeself.__context.shutdown() + 14.56sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 14.56sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m + 14.56sINFOcomponent_container_mtStopping planning scene monitor[0m + 14.56sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.56sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.56sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.56sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.56sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.56sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m + 14.56sINFOobjective_server_node[2026-06-03 14:33:51.909] [moveit_pro_license] [info] + 14.56sINFOobjective_server_node************************************************* ×2 + 14.56sINFOobjective_server_node* MoveIt Pro License + 14.56sINFOobjective_server_node* Application has successfully terminated + 14.56sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 14.56sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 14.56sINFObehavior_serverCleaning up + 14.56sINFOmove_groupDeleting MoveItCpp[0m + 14.57sINFOmove_groupStopped publishing maintained planning scene.[0m + 14.57sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 14.57sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 14.57sINFOsmoother_serverCleaning up + 14.57sINFOmove_groupStopping world geometry monitor[0m + 14.57sINFOmove_groupStopping planning scene monitor[0m + 14.57sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system + 14.57sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 + 14.58sERRORodom_qos_relay.pyTraceback (most recent call last): + 14.58sINFOodom_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> + 14.58sINFOodom_qos_relay.pymain() + 14.58sINFOodom_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 + 14.58sINFOodom_qos_relay.pyrclpy.spin(node) + 14.58sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin + 14.58sINFOodom_qos_relay.pyexecutor.spin_once() + 14.58sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once + 14.58sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) + 14.58sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl + 14.58sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) + 14.58sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks + 14.58sINFOodom_qos_relay.pyreturn next(self._cb_iter) + 14.58sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks + 14.58sINFOodom_qos_relay.pyraise ExternalShutdownException() + 14.58sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException + 14.58sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 14.58sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 14.58sINFObt_navigatorCleaning up + 14.58sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 + 14.58sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 14.60sINFOcomponent_container_mt-26process has finished cleanly [pid 24376] + 14.61sINFObt_navigatorCompleted Cleaning up + 14.61sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 14.61sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 14.61sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 14.61sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 14.62sINFOobjective_server_node_main-25process has finished cleanly [pid 24365] + 14.62sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system + 14.67sINFOmove_group-20process has finished cleanly [pid 24351] + 14.67sINFOfoxglove_bridgeShutdown complete[0m + 14.70sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 24255] + 14.71sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 24253] + 14.74sINFOstatic_transform_publisher-4process has finished cleanly [pid 24249] + 14.75sINFOstatic_transform_publisher-3process has finished cleanly [pid 24247] + 14.76sERRORodom_qos_relay.py-5process has died [pid 24251, 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']. + 14.76sINFOstatic_transform_publisher-2process has finished cleanly [pid 24245] + 15.79sINFOfoxglove_bridge-29process has finished cleanly [pid 24459] + 15.79sINFOlaunchprocess[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 24243, 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_fd_9q_rd --params-file /tmp/launch_params_tpjqdto4 -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	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 Boxes Looping	move_boxes_looping.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Move to Arm Upright	move_to_arm_upright.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Move to Look at Plane	move_to_look_at_plane.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Plan Path Along Surface	plan_path_along_surface.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Point-to-Point Trajectory	point-to-point_trajectory.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	Solution - Draw Picknik	solution_draw_picknik.xml	5.0s	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	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	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	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	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	11 errors · 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 + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOlocal_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 + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×4 + 0.14sINFOmove_group******************************************************** ×2 + 0.14sINFOmove_group* MoveGroup using: + 0.14sINFOmove_group* - apply_planning_scene_service + 0.14sINFOmove_group* - clear_octomap_service + 0.14sINFOmove_group* - ExecuteTaskSolution + 0.14sINFOmove_group* - get_group_urdf + 0.14sINFOmove_group* - load_geometry_from_file + 0.14sINFOmove_group* - get_planning_scene_service + 0.14sINFOmove_group* - kinematics_service + 0.14sINFOmove_group* - save_geometry_to_file + 0.14sINFOmove_group* - GetPlanningGroups + 0.14sINFOmove_group* - SetActiveControllerService + 0.14sINFOmove_group* - URDFPlanningSceneCapability + 0.14sINFOmove_group[0m + 0.14sINFOmove_group[92mYou can start planning now![0m + 1.17sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.18sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.30sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.33sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.44sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Open Gripper	open_gripper.xml	0.0s	11 errors · 1 warning · 50 info
+ 0.00sWARNmove_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 + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOlocal_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 + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×4 + 0.14sINFOmove_group******************************************************** ×2 + 0.14sINFOmove_group* MoveGroup using: + 0.14sINFOmove_group* - apply_planning_scene_service + 0.14sINFOmove_group* - clear_octomap_service + 0.14sINFOmove_group* - ExecuteTaskSolution + 0.14sINFOmove_group* - get_group_urdf + 0.14sINFOmove_group* - load_geometry_from_file + 0.14sINFOmove_group* - get_planning_scene_service + 0.14sINFOmove_group* - kinematics_service + 0.14sINFOmove_group* - save_geometry_to_file + 0.14sINFOmove_group* - GetPlanningGroups + 0.14sINFOmove_group* - SetActiveControllerService + 0.14sINFOmove_group* - URDFPlanningSceneCapability + 0.14sINFOmove_group[0m + 0.14sINFOmove_group[92mYou can start planning now![0m + 1.17sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.18sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.30sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.33sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.44sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	11 errors · 1 warning · 50 info
+ 0.00sWARNmove_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 + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOlocal_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 + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×4 + 0.14sINFOmove_group******************************************************** ×2 + 0.14sINFOmove_group* MoveGroup using: + 0.14sINFOmove_group* - apply_planning_scene_service + 0.14sINFOmove_group* - clear_octomap_service + 0.14sINFOmove_group* - ExecuteTaskSolution + 0.14sINFOmove_group* - get_group_urdf + 0.14sINFOmove_group* - load_geometry_from_file + 0.14sINFOmove_group* - get_planning_scene_service + 0.14sINFOmove_group* - kinematics_service + 0.14sINFOmove_group* - save_geometry_to_file + 0.14sINFOmove_group* - GetPlanningGroups + 0.14sINFOmove_group* - SetActiveControllerService + 0.14sINFOmove_group* - URDFPlanningSceneCapability + 0.14sINFOmove_group[0m + 0.14sINFOmove_group[92mYou can start planning now![0m + 1.17sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.18sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.30sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.33sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.44sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14

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

4 fail3 pass13 skip

! error	—	clear_snapshot.xml	19.0s	81 errors · 27 warnings · 3120 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-14-28-12-540695-abd2d89435b6-23426 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 7.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 7.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 7.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 7.33sINFOros2_control_node-8process started with pid [23472] + 7.33sINFOmove_group-20process started with pid [23571] + 7.33sINFOparameter_manager_node-21process started with pid [23573] + 7.33sINFOwaypoint_manager_node-22process started with pid [23578] + 7.33sINFOmove_joint_resampler_node-23process started with pid [23580] + 7.33sINFOmove_end_effector_resampler_node-24process started with pid [23582] + 7.33sINFOobjective_server_node_main-25process started with pid [23584] + 7.33sINFOcomponent_container_mt-26process started with pid [23595] + 7.33sINFOexecute_objective_bridge-27process started with pid [23597] + 7.33sINFOui_teleop_bridge-28process started with pid [23675] + 7.33sINFOfoxglove_bridge-29process started with pid [23677] + 7.33sINFOtf2_web_republisher_node-30process started with pid [23679] + 7.33sINFOweb_video_server-31process started with pid [23681] + 7.35sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 7.35sINFOcomponent_container_isolated-1process started with pid [23458] + 7.35sINFOstatic_transform_publisher-2process started with pid [23460] + 7.35sINFOstatic_transform_publisher-3process started with pid [23462] + 7.35sINFOstatic_transform_publisher-4process started with pid [23464] + 7.35sINFOodom_qos_relay.py-5process started with pid [23466] + 7.35sINFOscan_to_scan_filter_chain-6process started with pid [23468] + 7.35sINFOscan_to_scan_filter_chain-7process started with pid [23470] + 7.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [23474] + 7.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [23476] + 7.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [23478] + 7.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [23550] + 7.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [23552] + 7.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [23554] + 7.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [23557] + 7.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [23559] + 7.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [23562] + 7.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [23564] + 7.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [23567] + 7.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 7.45sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 7.45sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 7.45sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 7.45sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 7.46sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 7.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 7.46sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 7.48sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 7.48sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m ×2 + 7.49sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 7.49sINFOcomponent_container_mtLoad Library: /opt/ros/humble/lib/librobot_state_publisher_node.so[0m ×2 + 7.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 7.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 7.50sINFOcomponent_container_mtgot segment axle_link[0m ×2 + 7.50sINFOcomponent_container_mtgot segment base[0m ×2 + 7.50sINFOcomponent_container_mtgot segment base_link[0m ×2 + 7.50sINFOcomponent_container_mtgot segment base_link_inertia[0m ×2 + 7.50sINFOcomponent_container_mtgot segment chassis_link[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube_001[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube_002[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube_002_001[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube_004[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube_005[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube_006[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube_007[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube_008[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube_009[0m ×2 + 7.50sINFOcomponent_container_mtgot segment collision_Cube_010[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Cube_011[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Cube_012[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Cube_013[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Cube_014[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Cube_015[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_001[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_002[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_003[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_004[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_005[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_006[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_007[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_008[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_009[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_010[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_011[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_Plane_012[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_SM_Box_A7_73[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_SM_Box_A8[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_SM_Box_C7_77[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_SM_Floor_376[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_SM_Pillar2_001[0m ×2 + 7.51sINFOcomponent_container_mtgot segment collision_SM_Pillar3_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_Pillar4_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_Pillar5_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_Pillar6_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_Pillar7_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_Pillar8_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_Pillar_10_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_Room_426_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_Room_426_002[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_Room_426_003[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_Room_426_004[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_WallBack_396_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_WallBack_396_002[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_WallFront_382_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_WallFront_382_002[0m ×2 + 7.52sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_WallSide16_002[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_SM_WallSide4_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_001[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_002[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_003[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_004[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_005[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_006[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_007[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_008[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_009[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_010[0m ×2 + 7.52sINFOcomponent_container_mtgot segment collision_supports_011[0m ×2 + 7.53sINFOcomponent_container_mtgot segment collision_supports_012[0m ×2 + 7.53sINFOcomponent_container_mtgot segment collision_supports_013[0m ×2 + 7.53sINFOcomponent_container_mtgot segment collision_supports_014[0m ×2 + 7.53sINFOcomponent_container_mtgot segment collision_supports_015[0m ×2 + 7.53sINFOcomponent_container_mtgot segment collision_vacuum_base[0m ×2 + 7.54sINFOcomponent_container_mtgot segment collision_vacuum_suction_cups[0m ×2 + 7.54sINFOcomponent_container_mtgot segment flange[0m ×2 + 7.54sINFOcomponent_container_mtgot segment forearm_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment forearm_pinch_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment front_cover_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment front_left_wheel_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment front_lights_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment front_right_wheel_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment front_rocker_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment ft_frame[0m ×2 + 7.54sINFOcomponent_container_mtgot segment grasp_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment ham_assem_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment imu_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment left_side_cover_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment mid_mount[0m ×2 + 7.54sINFOcomponent_container_mtgot segment rear_cover_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment rear_left_wheel_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment rear_lights_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment rear_right_wheel_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment rear_rocker_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment ridgeback_base_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment right_side_cover_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment riser_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment shoulder_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment tool0[0m ×2 + 7.54sINFOcomponent_container_mtgot segment top_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment upper_arm_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment ur_mount_point[0m ×2 + 7.54sINFOcomponent_container_mtgot segment vacuum_base[0m ×2 + 7.54sINFOcomponent_container_mtgot segment virtual_rail_link_1[0m ×2 + 7.54sINFOcomponent_container_mtgot segment virtual_rail_link_2[0m ×2 + 7.54sINFOcomponent_container_mtgot segment visual_mesh[0m ×2 + 7.54sINFOcomponent_container_mtgot segment world[0m ×2 + 7.54sINFOcomponent_container_mtgot segment wrist_1_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment wrist_2_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment wrist_3_link[0m ×2 + 7.54sINFOcomponent_container_mtgot segment wrist_3_pinch_link[0m ×2 + 7.55sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 7.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 7.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 7.56sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 7.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 7.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 7.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 7.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 7.69sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 7.69sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 7.69sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 7.69sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 7.69sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 7.69sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m ×2 + 7.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 7.70sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 7.70sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 7.70sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 7.70sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 7.75sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf"[0m + 7.75sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout"[0m + 7.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 7.77sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m + 7.81sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state"[0m + 7.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 7.82sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m + 7.83sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/tf_static"[0m + 7.85sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 7.85sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m + 7.85sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector"[0m + 7.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 8.05sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 8.05sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 8.05sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 8.09sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×4 + 8.14sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 8.14sINFOmove_groupLoaded robot model in 0.590442 seconds[0m + 8.14sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 8.14sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.31sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 8.31sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 8.31sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 8.50sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 8.50sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 8.50sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 8.58sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 8.59sINFOwaypoint_manager_nodeLoaded robot model in 0.583756 seconds[0m + 8.59sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 8.59sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.60sERRORros2_control_nodeXML Error: Schema violation: unrecognized element ×2 + 8.60sINFOros2_control_nodeElement 'option', line 0 ×2 + 8.60sINFOros2_control_node[0m ×2 + 8.60sINFOros2_control_nodeFailed to initialize hardware 'ur_mujoco_control'[0m ×2 + 8.60sWARNros2_control_nodeSystem hardware component 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' failed to initialize.[0m ×2 + 8.60sERRORros2_control_nodeterminate called after throwing an instance of 'std::runtime_error' ×2 + 8.60sERRORros2_control_nodewhat(): Wrong state or command interface configuration. ×2 + 8.60sINFOros2_control_nodemissing state interfaces: ×2 + 8.60sINFOros2_control_node' imu_site/orientation.x ' ' imu_site/orientation.y ' ' imu_site/orientation.z ' ' imu_site/orientation.w ' ' imu_site/angular_velocity.x ' ' imu_site/angular_velocity.y ' ' imu_site/angular_velocity.z ' ' imu_site/linear_acceleration.x ' ' imu_site/linear_acceleration.y ' ' imu_site/linear_acceleration.z ' ×2 + 8.60sINFOros2_control_nodemissing command interfaces: ×2 + 8.60sINFOros2_control_node ×2 + 8.60sERRORros2_control_nodeStack trace (most recent call last): ×2 + 8.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.60sINFOros2_control_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 8.60sINFOros2_control_node#14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x557fcf3b3ec4, in + 8.60sINFOros2_control_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febdec47e3f, in __libc_start_main + 8.60sINFOros2_control_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febdec47d8f, in + 8.60sINFOros2_control_node#11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x557fcf3b336f, in + 8.60sINFOros2_control_node#10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7febdf36448a, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) + 8.60sINFOros2_control_node#9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7febdf35f43f, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) + 8.60sINFOros2_control_node#8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7febdeb16334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) + 8.60sINFOros2_control_node#7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7febdeaf2723, in + 8.60sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7febdef174d7, in __cxa_throw + 8.60sINFOros2_control_node#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7febdef17276, in std::terminate() + 8.60sINFOros2_control_node#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7febdef1720b, in + 8.60sINFOros2_control_node#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7febdef0bb9d, in + 8.60sINFOros2_control_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febdec467f2, in abort + 8.60sINFOros2_control_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febdec60475, in raise + 8.60sINFOros2_control_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febdecb49fc, in pthread_kill + 8.61sERRORros2_control_nodeAborted (Signal sent by tkill() 23472 0) + 8.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.66sERRORros2_control_node-8process has died [pid 23472, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_lrh06tu3 --params-file /tmp/launch_params_id0ybhbb --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_3j0ud0m2 --params-file /tmp/launch_params_2fjojzkc']. + 8.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 8.84sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.22sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 9.22sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 9.23sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 9.23sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 9.23sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 9.23sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 9.23sINFOmove_groupStarting planning scene monitor[0m ×2 + 9.23sINFOmove_groupListening to '/planning_scene'[0m ×2 + 9.23sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 9.23sINFOmove_groupListening to 'collision_object'[0m ×2 + 9.23sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 9.32sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 9.32sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 9.33sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 9.35sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/velocity_smoother/transition_event"[0m + 9.35sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/transformed_global_plan"[0m + 9.36sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/trajectories"[0m + 9.36sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/smoother_server/transition_event"[0m + 9.36sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/scan_rear"[0m + 9.36sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/scan_front_filtered"[0m + 9.36sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/scan_front"[0m + 9.37sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/robot_description"[0m + 9.37sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/odom_reliable"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/odom"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/plan_smoothed"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/objective_server_heartbeat"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/robot_description_semantic"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/plan"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 9.41sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m + 9.42sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/preempt_teleop"[0m + 9.42sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/local_costmap/published_footprint"[0m + 9.42sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/planning_scene_world"[0m + 9.42sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/local_costmap/footprint"[0m + 9.42sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/local_costmap/costmap_updates"[0m + 9.42sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/planner_server/transition_event"[0m + 9.42sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/local_costmap/costmap"[0m + 9.42sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scan_rear_filtered"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_states"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/imu_sensor_broadcaster/imu_reliable"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/map"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/imu_sensor_broadcaster/imu"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/global_costmap/published_footprint"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/global_costmap/global_costmap/transition_event"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/global_costmap/footprint"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/global_costmap/costmap_updates"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/speed_limit"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/global_costmap/costmap_raw"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/local_costmap/local_costmap/transition_event"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/local_costmap/costmap_raw"[0m + 9.43sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/global_costmap/costmap"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/diagnostics"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/controller_server/transition_event"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/collision_object"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/waypoint_follower/transition_event"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/cmd_vel_teleop"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/cmd_vel_nav"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/cmd_vel"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/bt_navigator/transition_event"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/bond"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/behavior_server/transition_event"[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/attached_collision_object"[0m + 9.45sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/goal_pose"[0m + 9.45sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/map_server/transition_event"[0m + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 9.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 9.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 9.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 9.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 9.98sINFOobjective_server_node[2026-06-03 14:28:24.797] [moveit_pro_license] [info] + 9.98sINFOobjective_server_node************************************************* ×6 + 9.98sINFOobjective_server_node* MoveIt Pro License ×3 + 9.98sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 10.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 10.07sWARNcomponent_container_mtPublisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 10.21sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 10.21sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 10.21sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 10.23sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 10.23sINFOobjective_server_nodeLoaded robot model in 0.220043 seconds[0m + 10.23sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 10.23sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.30sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/statistics"[0m + 10.30sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/failure_reason_collector"[0m + 10.30sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/description"[0m + 10.44sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.48sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 10.48sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 10.49sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 10.49sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 10.81sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 10.81sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 10.89sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/visual_markers"[0m + 10.89sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/blackboard_contents"[0m + 10.89sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/behavior_tree_status"[0m + 11.01sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 11.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.41sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×6 + 12.15sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.15sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 12.15sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.17sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 12.17sINFOcomponent_container_mtLoaded robot model in 2.08678 seconds[0m + 12.17sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.17sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.63sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.63sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 12.98sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 13.41sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.41sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.41sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.44sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.44sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.47sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.47sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.47sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.47sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.47sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.47sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.48sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m ×2 + 13.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.55sINFOmove_group ×8 + 13.55sINFOmove_group******************************************************** ×4 + 13.55sINFOmove_group* MoveGroup using: ×2 + 13.55sINFOmove_group* - apply_planning_scene_service ×2 + 13.55sINFOmove_group* - clear_octomap_service ×2 + 13.55sINFOmove_group* - ExecuteTaskSolution ×2 + 13.55sINFOmove_group* - get_group_urdf ×2 + 13.55sINFOmove_group* - load_geometry_from_file ×2 + 13.55sINFOmove_group* - get_planning_scene_service ×2 + 13.55sINFOmove_group* - kinematics_service ×2 + 13.55sINFOmove_group* - save_geometry_to_file ×2 + 13.55sINFOmove_group* - GetPlanningGroups ×2 + 13.55sINFOmove_group* - SetActiveControllerService ×2 + 13.55sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.55sINFOmove_group[0m ×2 + 13.55sINFOmove_group[92mYou can start planning now![0m ×2 +156.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +162.90sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.90sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.90sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.90sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.91sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.91sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.91sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.91sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.91sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.91sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.91sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.91sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.91sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process[ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.93sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process[ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.94sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +162.95sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process[ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.95sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process[ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.95sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process[ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.95sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.95sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.95sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.95sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.96sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] +162.97sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +162.98sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +162.99sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +163.01sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +163.02sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +163.03sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +163.05sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +163.06sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +163.08sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +163.09sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +163.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19] +163.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18] +163.11sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 23567, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. +163.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17] +163.13sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 23564, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. +163.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16] +163.14sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 23562, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. +163.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15] +163.15sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 23559, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. +163.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14] +163.16sINFOweb_video_server-31process has finished cleanly [pid 23681] +163.16sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 23557, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. +163.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13] +163.17sINFOtf2_web_republisher_node-30process has finished cleanly [pid 23679] +163.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12] +163.18sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 23554, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. +163.18sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +163.19sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 23552, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. +163.19sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 23550, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. +163.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11] +163.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10] +163.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9] +163.21sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 23478, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. +163.22sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +163.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 23476, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. +163.23sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +163.24sERRORui_teleop_bridge-28process has died [pid 23675, 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_2cfxt4xt']. +163.24sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 23474, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. +163.25sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +163.25sINFOexecute_objective_bridge-27process has finished cleanly [pid 23597] +163.26sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +163.26sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 23582] +163.27sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +163.27sINFOmove_joint_resampler_node-23process has finished cleanly [pid 23580] +163.29sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +163.30sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +163.30sINFOparameter_manager_node-21process has finished cleanly [pid 23573] +163.30sINFOwaypoint_manager_node-22process has finished cleanly [pid 23578] +163.30sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +163.30sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +163.30sERRORui_teleop_bridgeTraceback (most recent call last): +163.30sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +163.30sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +163.30sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main +163.30sINFOui_teleop_bridgerclpy.shutdown() +163.30sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +163.30sINFOui_teleop_bridge_shutdown(context=context) +163.30sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +163.30sINFOui_teleop_bridgereturn context.shutdown() +163.30sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +163.30sINFOui_teleop_bridgeself.__context.shutdown() +163.30sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +163.30sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +163.30sINFOcomponent_container_mtStopping planning scene monitor[0m +163.30sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +163.30sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +163.30sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +163.30sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +163.30sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +163.30sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +163.30sINFOobjective_server_node[2026-06-03 14:30:57.919] [moveit_pro_license] [info] +163.30sINFOobjective_server_node* Application has successfully terminated +163.31sINFOmove_groupDeleting MoveItCpp[0m +163.31sINFOmove_groupStopping world geometry monitor[0m +163.31sINFOmove_groupStopping planning scene monitor[0m +163.31sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +163.31sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +163.31sERRORodom_qos_relay.pyTraceback (most recent call last): +163.31sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +163.31sINFOodom_qos_relay.pymain() +163.31sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +163.32sINFOodom_qos_relay.pyrclpy.spin(node) +163.32sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin +163.32sINFOodom_qos_relay.pyexecutor.spin_once() +163.32sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once +163.32sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +163.32sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl +163.32sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) +163.32sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks +163.32sINFOodom_qos_relay.pyreturn next(self._cb_iter) +163.32sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks +163.32sINFOodom_qos_relay.pyraise ExternalShutdownException() +163.32sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +163.32sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 +163.32sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +163.34sINFOcomponent_container_mt-26process has finished cleanly [pid 23595] +163.36sINFOobjective_server_node_main-25process has finished cleanly [pid 23584] +163.36sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +163.40sINFOmove_group-20process has finished cleanly [pid 23571] +163.42sINFOfoxglove_bridgeShutdown complete[0m +163.44sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 23470] +163.45sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 23468] +163.48sINFOstatic_transform_publisher-4process has finished cleanly [pid 23464] +163.49sINFOstatic_transform_publisher-3process has finished cleanly [pid 23462] +163.50sERRORodom_qos_relay.py-5process has died [pid 23466, 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']. +163.50sINFOstatic_transform_publisher-2process has finished cleanly [pid 23460] +164.54sINFOfoxglove_bridge-29process has finished cleanly [pid 23677] +164.54sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system +167.90sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +167.91sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +167.92sERRORcomponent_container_isolated-1process has died [pid 23458, 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_n00osuv5 --params-file /tmp/launch_params_vkellt0e -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +173.78sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-14-31-06-300028-abd2d89435b6-24211 +180.94sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' +180.94sINFOstatic_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' +180.94sINFOstatic_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' +181.02sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libmap_server_core.so +181.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +181.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +181.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +181.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +181.08sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.08sINFOmap_serverCreating +181.09sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +181.22sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libnav2_lifecycle_manager_core.so +181.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +181.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +181.23sINFOlifecycle_manager_localizationCreating +181.24sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +181.25sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +181.25sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +181.25sINFOmap_serverConfiguring +181.25sINFOros2_control_node-8process started with pid [24257] +181.26sINFOmove_group-20process started with pid [24351] +181.26sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libcontroller_server_core.so +181.26sINFOparameter_manager_node-21process started with pid [24354] +181.26sINFOwaypoint_manager_node-22process started with pid [24358] +181.26sINFOmove_joint_resampler_node-23process started with pid [24361] +181.26sINFOmove_end_effector_resampler_node-24process started with pid [24363] +181.26sINFOobjective_server_node_main-25process started with pid [24365] +181.26sINFOcomponent_container_mt-26process started with pid [24376] +181.26sINFOexecute_objective_bridge-27process started with pid [24378] +181.26sINFOui_teleop_bridge-28process started with pid [24456] +181.26sINFOfoxglove_bridge-29process started with pid [24459] +181.26sINFOtf2_web_republisher_node-30process started with pid [24461] +181.27sINFOweb_video_server-31process started with pid [24465] +181.27sINFOcomponent_container_isolated-1process started with pid [24243] +181.27sINFOstatic_transform_publisher-2process started with pid [24245] +181.27sINFOstatic_transform_publisher-3process started with pid [24247] +181.27sINFOstatic_transform_publisher-4process started with pid [24249] +181.27sINFOodom_qos_relay.py-5process started with pid [24251] +181.27sINFOscan_to_scan_filter_chain-6process started with pid [24253] +181.27sINFOscan_to_scan_filter_chain-7process started with pid [24255] +181.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [24259] +181.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [24261] +181.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [24263] +181.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [24331] +181.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [24333] +181.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +181.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +181.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [24335] +181.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [24338] +181.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [24341] +181.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [24344] +181.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [24346] +181.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [24348] +181.31sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.37sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +181.43sINFOmoveit_studio_containerLoad Library: /opt/ros/humble/lib/librobot_state_publisher_node.so +181.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +181.44sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +181.47sINFOcontroller_serverCreating controller server +181.55sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.55sINFOrobot_state_publishergot segment axle_link +181.55sINFOlocal_costmap.local_costmapCreating Costmap +181.55sINFOrobot_state_publishergot segment base +181.56sINFOrobot_state_publishergot segment base_link +181.56sINFOrobot_state_publishergot segment base_link_inertia +181.56sINFOrobot_state_publishergot segment chassis_link +181.56sINFOrobot_state_publishergot segment collision_Cube +181.56sINFOrobot_state_publishergot segment collision_Cube_001 +181.56sINFOrobot_state_publishergot segment collision_Cube_002 +181.56sINFOrobot_state_publishergot segment collision_Cube_002_001 +181.56sINFOrobot_state_publishergot segment collision_Cube_004 +181.56sINFOrobot_state_publishergot segment collision_Cube_005 +181.56sINFOrobot_state_publishergot segment collision_Cube_006 +181.56sINFOrobot_state_publishergot segment collision_Cube_007 +181.56sINFOrobot_state_publishergot segment collision_Cube_008 +181.56sINFOrobot_state_publishergot segment collision_Cube_009 +181.56sINFOrobot_state_publishergot segment collision_Cube_010 +181.56sINFOrobot_state_publishergot segment collision_Cube_011 +181.56sINFOrobot_state_publishergot segment collision_Cube_012 +181.56sINFOrobot_state_publishergot segment collision_Cube_013 +181.56sINFOrobot_state_publishergot segment collision_Cube_014 +181.56sINFOrobot_state_publishergot segment collision_Cube_015 +181.56sINFOrobot_state_publishergot segment collision_Plane +181.56sINFOrobot_state_publishergot segment collision_Plane_001 +181.56sINFOrobot_state_publishergot segment collision_Plane_002 +181.56sINFOrobot_state_publishergot segment collision_Plane_003 +181.56sINFOrobot_state_publishergot segment collision_Plane_004 +181.56sINFOrobot_state_publishergot segment collision_Plane_005 +181.56sINFOrobot_state_publishergot segment collision_Plane_006 +181.56sINFOrobot_state_publishergot segment collision_Plane_007 +181.56sINFOrobot_state_publishergot segment collision_Plane_008 +181.56sINFOrobot_state_publishergot segment collision_Plane_009 +181.56sINFOrobot_state_publishergot segment collision_Plane_010 +181.56sINFOrobot_state_publishergot segment collision_Plane_011 +181.56sINFOrobot_state_publishergot segment collision_Plane_012 +181.56sINFOrobot_state_publishergot segment collision_SM_Box_A7_73 +181.56sINFOrobot_state_publishergot segment collision_SM_Box_A8 +181.56sINFOrobot_state_publishergot segment collision_SM_Box_C7_77 +181.56sINFOrobot_state_publishergot segment collision_SM_Floor_376 +181.56sINFOrobot_state_publishergot segment collision_SM_Pillar2_001 +181.56sINFOrobot_state_publishergot segment collision_SM_Pillar3_001 +181.56sINFOrobot_state_publishergot segment collision_SM_Pillar4_001 +181.56sINFOrobot_state_publishergot segment collision_SM_Pillar5_001 +181.56sINFOrobot_state_publishergot segment collision_SM_Pillar6_001 +181.56sINFOrobot_state_publishergot segment collision_SM_Pillar7_001 +181.56sINFOrobot_state_publishergot segment collision_SM_Pillar8_001 +181.56sINFOrobot_state_publishergot segment collision_SM_Pillar_10_001 +181.56sINFOrobot_state_publishergot segment collision_SM_Room_426_001 +181.56sINFOrobot_state_publishergot segment collision_SM_Room_426_002 +181.56sINFOrobot_state_publishergot segment collision_SM_Room_426_003 +181.56sINFOrobot_state_publishergot segment collision_SM_Room_426_004 +181.56sINFOrobot_state_publishergot segment collision_SM_WallBack_396_001 +181.56sINFOrobot_state_publishergot segment collision_SM_WallBack_396_002 +181.56sINFOrobot_state_publishergot segment collision_SM_WallFront_382_001 +181.56sINFOrobot_state_publishergot segment collision_SM_WallFront_382_002 +181.56sINFOrobot_state_publishergot segment collision_SM_WallSide16_002 +181.56sINFOrobot_state_publishergot segment collision_SM_WallSide4_001 +181.56sINFOrobot_state_publishergot segment collision_supports +181.56sINFOrobot_state_publishergot segment collision_supports_001 +181.56sINFOrobot_state_publishergot segment collision_supports_002 +181.56sINFOrobot_state_publishergot segment collision_supports_003 +181.56sINFOrobot_state_publishergot segment collision_supports_004 +181.56sINFOrobot_state_publishergot segment collision_supports_005 +181.56sINFOrobot_state_publishergot segment collision_supports_006 +181.56sINFOrobot_state_publishergot segment collision_supports_007 +181.56sINFOrobot_state_publishergot segment collision_supports_008 +181.56sINFOrobot_state_publishergot segment collision_supports_009 +181.56sINFOrobot_state_publishergot segment collision_supports_010 +181.56sINFOrobot_state_publishergot segment collision_supports_011 +181.56sINFOrobot_state_publishergot segment collision_supports_012 +181.56sINFOrobot_state_publishergot segment collision_supports_013 +181.56sINFOrobot_state_publishergot segment collision_supports_014 +181.56sINFOrobot_state_publishergot segment collision_supports_015 +181.56sINFOrobot_state_publishergot segment collision_vacuum_base +181.56sINFOrobot_state_publishergot segment collision_vacuum_suction_cups +181.56sINFOrobot_state_publishergot segment flange +181.56sINFOrobot_state_publishergot segment forearm_link +181.56sINFOrobot_state_publishergot segment forearm_pinch_link +181.56sINFOrobot_state_publishergot segment front_cover_link +181.56sINFOrobot_state_publishergot segment front_left_wheel_link +181.56sINFOrobot_state_publishergot segment front_lights_link +181.56sINFOrobot_state_publishergot segment front_right_wheel_link +181.56sINFOrobot_state_publishergot segment front_rocker_link +181.56sINFOrobot_state_publishergot segment ft_frame +181.56sINFOrobot_state_publishergot segment grasp_link +181.56sINFOrobot_state_publishergot segment ham_assem_link +181.56sINFOrobot_state_publishergot segment imu_link +181.56sINFOrobot_state_publishergot segment left_side_cover_link +181.56sINFOrobot_state_publishergot segment mid_mount +181.56sINFOrobot_state_publishergot segment rear_cover_link +181.56sINFOrobot_state_publishergot segment rear_left_wheel_link +181.56sINFOrobot_state_publishergot segment rear_lights_link +181.56sINFOrobot_state_publishergot segment rear_right_wheel_link +181.56sINFOrobot_state_publishergot segment rear_rocker_link +181.56sINFOrobot_state_publishergot segment ridgeback_base_link +181.56sINFOrobot_state_publishergot segment right_side_cover_link +181.56sINFOrobot_state_publishergot segment riser_link +181.56sINFOrobot_state_publishergot segment shoulder_link +181.56sINFOrobot_state_publishergot segment tool0 +181.56sINFOrobot_state_publishergot segment top_link +181.56sINFOrobot_state_publishergot segment upper_arm_link +181.56sINFOrobot_state_publishergot segment ur_mount_point +181.56sINFOrobot_state_publishergot segment vacuum_base +181.56sINFOrobot_state_publishergot segment virtual_rail_link_1 +181.56sINFOrobot_state_publishergot segment virtual_rail_link_2 +181.56sINFOrobot_state_publishergot segment visual_mesh +181.56sINFOrobot_state_publishergot segment world +181.56sINFOrobot_state_publishergot segment wrist_1_link +181.56sINFOrobot_state_publishergot segment wrist_2_link +181.56sINFOrobot_state_publishergot segment wrist_3_link +181.56sINFOrobot_state_publishergot segment wrist_3_pinch_link +181.60sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libsmoother_server_core.so +181.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +181.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +181.60sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +181.60sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +181.60sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +181.60sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +181.60sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +181.60sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +181.60sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +181.61sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +181.61sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +181.61sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +181.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +181.64sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.65sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +181.69sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +181.70sINFOsmoother_serverCreating smoother server +181.71sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libplanner_server_core.so +181.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +181.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +181.75sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.79sINFOplanner_serverCreating +181.81sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +181.81sINFOmap_serverActivating +181.81sINFOmap_serverCreating bond (map_server) to lifecycle manager. +181.84sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) +181.84sINFOfoxglove_bridgeServer listening on port 3201 +181.85sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.85sINFOglobal_costmap.global_costmapCreating Costmap +181.86sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/scan_front_filtered" +181.87sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/scan_front_filtered"[0m +181.87sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description" +181.87sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/robot_description"[0m +181.88sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libbehavior_server_core.so +181.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +181.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +181.92sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.92sINFOlifecycle_manager_localizationServer map_server connected with bond. +181.92sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +181.92sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +181.95sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +181.95sWARNlaser_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. +181.95sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libbt_navigator_core.so +181.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +181.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +181.96sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state" +181.96sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/scan_front" +181.96sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_joint" +181.96sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state"[0m +181.96sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/scan_front"[0m +181.96sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_joint"[0m +181.97sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" +181.97sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m +181.97sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_end_effector" +181.97sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_end_effector"[0m +181.97sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/scan_rear_filtered" +181.97sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/scan_rear" +181.98sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/scan_rear_filtered"[0m +181.98sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/scan_rear"[0m +181.98sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/map_server/transition_event" +181.98sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/map_server/transition_event"[0m +181.98sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/local_costmap/local_costmap/transition_event" +181.98sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/local_costmap/local_costmap/transition_event"[0m +181.98sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/joint_states" +181.99sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/joint_states"[0m +181.99sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf" +182.00sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf"[0m +182.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/diagnostics" +182.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/diagnostics"[0m +182.00sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_server/transition_event" +182.00sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/agent_interface/move_joint" +182.00sINFObt_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. +182.00sINFObt_navigatorCreating +182.00sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_server/transition_event"[0m +182.00sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/tf_static" +182.01sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/agent_interface/move_joint"[0m +182.01sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/tf_static"[0m +182.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/rosout" +182.01sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libwaypoint_follower_core.so +182.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +182.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +182.02sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/parameter_events" +182.02sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_end_effector" +182.02sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/rosout"[0m +182.03sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/parameter_events"[0m +182.03sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/agent_interface/move_end_effector"[0m +182.07sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +182.08sINFOwaypoint_followerCreating +182.09sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libvelocity_smoother_core.so +182.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +182.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +182.14sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +182.18sINFOmove_groupLoaded robot model in 0.791666 seconds[0m +182.19sINFOlifecycle_manager_navigationCreating +182.20sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +182.24sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +182.24sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +182.28sINFOcontroller_serverConfiguring controller interface +182.28sINFOcontroller_servergetting goal checker plugins.. +182.28sINFOcontroller_serverController frequency set to 20.0000Hz +182.28sINFOlocal_costmap.local_costmapConfiguring +182.28sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +182.30sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +182.31sINFOwaypoint_manager_nodeLoaded robot model in 0.572099 seconds[0m +182.34sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +182.35sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +182.35sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +182.37sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +182.39sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +182.40sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +182.40sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +182.40sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +182.44sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +182.48sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +182.48sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +182.48sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +182.48sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +182.49sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +182.49sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +182.50sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, and 0.500000 angular threshold. +182.50sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +182.50sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +182.50sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +182.51sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +182.52sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Reversing allowed. +182.52sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +182.53sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +182.53sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +182.53sINFOcontroller_serverOptimizer reset +182.53sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +182.54sINFOcontroller_serverController Server has FollowPath controllers available. +182.57sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +182.57sINFOsmoother_serverConfiguring smoother server +182.59sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +182.60sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +182.61sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +182.61sINFOplanner_serverConfiguring +182.61sINFOglobal_costmap.global_costmapConfiguring +182.62sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +182.63sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +182.64sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +182.64sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +182.67sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +182.74sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +182.76sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +182.76sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +182.78sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +182.83sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +182.83sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1008 X 1310 at 0.050000 m/pix +182.84sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner +182.84sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +182.86sINFOplanner_serverPlanner Server has GridBased planners available. +182.89sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +182.90sINFObehavior_serverConfiguring +182.91sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors/Spin +182.92sINFObehavior_serverConfiguring spin +182.92sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +182.93sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +182.93sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +182.94sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors/BackUp +182.94sINFObehavior_serverConfiguring backup +182.95sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading +182.96sINFObehavior_serverConfiguring drive_on_heading +182.97sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +182.98sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop +182.98sINFOros2_control_node#14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x561f97311ec4, in +182.98sINFOros2_control_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441edf3e3f, in __libc_start_main +182.98sINFOros2_control_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441edf3d8f, in +182.98sINFOros2_control_node#11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x561f9731136f, in +182.98sINFOros2_control_node#10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f441f51048a, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) +182.98sINFOros2_control_node#9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f441f50b43f, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) +182.98sINFOros2_control_node#8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f441ecc2334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) +182.98sINFOros2_control_node#7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f441ec9e723, in +182.98sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +182.98sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f441f0c34d7, in __cxa_throw +182.98sINFOros2_control_node#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f441f0c3276, in std::terminate() +182.98sINFOros2_control_node#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f441f0c320b, in +182.98sINFObehavior_serverConfiguring assisted_teleop +182.98sINFOros2_control_node#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f441f0b7b9d, in +182.98sINFOros2_control_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441edf27f2, in abort +182.98sINFOros2_control_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441ee0c475, in raise +182.98sINFOros2_control_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441ee609fc, in pthread_kill +182.98sERRORros2_control_nodeAborted (Signal sent by tkill() 24257 0) +182.99sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors/Wait +183.00sINFObehavior_serverConfiguring wait +183.00sERRORros2_control_node-8process has died [pid 24257, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_wac334lk --params-file /tmp/launch_params_mk140na8 --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_tmfun16t --params-file /tmp/launch_params_z9u8pbl5']. +183.01sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +183.01sINFObt_navigatorConfiguring +183.08sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +183.20sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +183.20sINFOwaypoint_followerConfiguring +183.22sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +183.22sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +183.22sINFOvelocity_smootherConfiguring velocity smoother +183.24sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +183.24sINFOcontroller_serverActivating +183.24sINFOlocal_costmap.local_costmapActivating +183.24sINFOlocal_costmap.local_costmapChecking transform +183.24sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×23 +183.30sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +183.72sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/velocity_smoother/transition_event" +183.72sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/velocity_smoother/transition_event"[0m +183.72sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/transformed_global_plan" +183.72sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/transformed_global_plan"[0m +183.73sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/trajectories" +183.73sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/smoother_server/transition_event" +183.73sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/trajectories"[0m +183.73sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/smoother_server/transition_event"[0m +183.73sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped" +183.73sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m +183.77sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene" +183.77sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/odom_reliable" +183.78sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/odom" +183.78sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/plan_smoothed" +183.78sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robot_description_semantic" +183.78sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/odom_reliable"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/odom"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/plan_smoothed"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robot_description_semantic"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/moveit_pro_ui/do_teleoperate/result" +183.78sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/plan" +183.78sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/moveit_pro_ui/do_teleoperate/goal" +183.78sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/moveit_pro_ui/do_teleoperate/feedback" +183.78sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/moveit_pro_ui/do_teleoperate/cancel" +183.78sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/moveit_pro_ui/do_teleoperate/result"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/monitored_planning_scene" +183.78sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/plan"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/monitored_planning_scene"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/preempt_teleop" +183.78sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/preempt_teleop"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/local_costmap/published_footprint" +183.78sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/local_costmap/published_footprint"[0m +183.78sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/planning_scene_world" +183.78sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/planning_scene_world"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/local_costmap/footprint" +183.79sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/local_costmap/footprint"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/local_costmap/costmap_updates" +183.79sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/planner_server/transition_event" +183.79sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/local_costmap/costmap_updates"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/planner_server/transition_event"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/local_costmap/costmap" +183.79sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/local_costmap/costmap"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/imu_sensor_broadcaster/imu_reliable" +183.79sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/map" +183.79sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/imu_sensor_broadcaster/imu" +183.79sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/global_costmap/published_footprint" +183.79sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/global_costmap/global_costmap/transition_event" +183.79sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/footprint" +183.79sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/imu_sensor_broadcaster/imu_reliable"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/global_costmap/costmap_updates" +183.79sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/map"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/imu_sensor_broadcaster/imu"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/global_costmap/published_footprint"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/global_costmap/global_costmap/transition_event"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/footprint"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/global_costmap/costmap_updates"[0m +183.79sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/speed_limit" +183.79sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/speed_limit"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/global_costmap/costmap_raw" +183.80sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/local_costmap/costmap_raw" +183.80sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/global_costmap/costmap" +183.80sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/global_costmap/costmap_raw"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/local_costmap/costmap_raw"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/global_costmap/costmap"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/collision_object" +183.80sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/waypoint_follower/transition_event" +183.80sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/cmd_vel_teleop" +183.80sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/cmd_vel_nav" +183.80sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/cmd_vel" +183.80sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/collision_object"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/bt_navigator/transition_event" +183.80sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/waypoint_follower/transition_event"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/cmd_vel_teleop"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/cmd_vel_nav"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/cmd_vel"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/bt_navigator/transition_event"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/bond" +183.80sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/behavior_server/transition_event" +183.80sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/bond"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/behavior_server/transition_event"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/attached_collision_object" +183.80sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/attached_collision_object"[0m +183.80sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/goal_pose" +183.80sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/goal_pose"[0m +183.87sINFOobjective_server_node[2026-06-03 14:31:18.691] [moveit_pro_license] [info] +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +183.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +183.91sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +183.93sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +184.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +184.04sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +184.22sINFOobjective_server_nodeLoaded robot model in 0.319648 seconds[0m +184.57sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/visual_markers" +184.57sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/visual_markers"[0m +184.57sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/description" +184.57sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/description"[0m +184.58sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/failure_reason_collector" +184.58sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/blackboard_contents" +184.58sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/failure_reason_collector"[0m +184.58sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/blackboard_contents"[0m +184.58sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/behavior_tree_status" +184.58sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/behavior_tree_status"[0m +184.58sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/statistics" +184.58sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/statistics"[0m +186.17sINFOcomponent_container_mtLoaded robot model in 2.09639 seconds[0m +186.74sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/transient_monitored_planning_scene_without_octomap" +187.68sINFOmove_groupMoveGroup debug mode is ON +187.76sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" +188.85sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers +188.86sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers +188.98sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers +189.01sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers +189.04sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers +189.04sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers +189.05sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers +189.11sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers +189.20sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers +189.29sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers +189.33sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers
! error	—	reset_planning_scene.xml	5.0s	11 errors · 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 + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOlocal_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 + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×4 + 0.14sINFOmove_group******************************************************** ×2 + 0.14sINFOmove_group* MoveGroup using: + 0.14sINFOmove_group* - apply_planning_scene_service + 0.14sINFOmove_group* - clear_octomap_service + 0.14sINFOmove_group* - ExecuteTaskSolution + 0.14sINFOmove_group* - get_group_urdf + 0.14sINFOmove_group* - load_geometry_from_file + 0.14sINFOmove_group* - get_planning_scene_service + 0.14sINFOmove_group* - kinematics_service + 0.14sINFOmove_group* - save_geometry_to_file + 0.14sINFOmove_group* - GetPlanningGroups + 0.14sINFOmove_group* - SetActiveControllerService + 0.14sINFOmove_group* - URDFPlanningSceneCapability + 0.14sINFOmove_group[0m + 0.14sINFOmove_group[92mYou can start planning now![0m + 1.17sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.18sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.30sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.33sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.44sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers
! error	—	teleoperate.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
! error	—	vector_subtrees_example.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
✓ passed	—	clear_snapshot.xml	6.2s	39 errors · 14 warnings · 342 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/2026-06-03-14-33-59-758928-abd2d89435b6-25045 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.22sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.30sINFOros2_control_node-1process started with pid [25075] + 1.30sINFOmove_group-9process started with pid [25095] + 1.30sINFOparameter_manager_node-10process started with pid [25098] + 1.30sINFOwaypoint_manager_node-11process started with pid [25145] + 1.30sINFOmove_joint_resampler_node-12process started with pid [25147] + 1.30sINFOmove_end_effector_resampler_node-13process started with pid [25149] + 1.30sINFOobjective_server_node_main-14process started with pid [25151] + 1.30sINFOcomponent_container_mt-15process started with pid [25153] + 1.30sINFOexecute_objective_bridge-16process started with pid [25155] + 1.30sINFOui_teleop_bridge-17process started with pid [25157] + 1.30sINFOfoxglove_bridge-18process started with pid [25159] + 1.30sINFOtf2_web_republisher_node-19process started with pid [25176] + 1.30sINFOweb_video_server-20process started with pid [25178] + 1.30sINFOparameter_manager_nodeStarted parameter manager node. + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25077] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25079] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25081] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25083] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25085] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25088] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25092] + 1.32sWARNros2_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 + 1.32sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.39sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.39sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.41sINFOfoxglove_bridgeServer listening on port 3201 + 1.41sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.42sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.42sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.42sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.42sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.62sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.63sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.02sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.10sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf" + 2.11sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf"[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description_semantic" + 2.11sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description_semantic"[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description" + 2.11sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description"[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint" + 2.11sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint"[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat" + 2.11sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat"[0m + 2.12sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 2.13sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.13sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.14sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/store_joint_state" + 2.15sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.16sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/store_joint_state"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/joint_states" + 2.16sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/agent_interface/move_joint" + 2.16sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/tf_static" + 2.16sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.16sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_end_effector" + 2.16sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/joint_states"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/agent_interface/move_joint"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/tf_static"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_end_effector"[0m + 2.29sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOros2_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. + 2.30sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.30sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.33sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.37sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.38sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.39sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.41sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.11sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world" + 3.11sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene" + 3.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene" + 3.13sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene"[0m + 3.14sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene"[0m + 3.14sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object" + 3.14sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object"[0m + 3.14sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object" + 3.14sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object"[0m + 3.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.38sINFOobjective_server_node[2026-06-03 14:34:03.677] [moveit_pro_license] [info] + 3.38sINFOobjective_server_node************************************************* ×2 + 3.38sINFOobjective_server_node* MoveIt Pro License + 3.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.58sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.58sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.58sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.58sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.58sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.58sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.59sINFOcontroller_managerupdate rate is 600 Hz + 3.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.59sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.59sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.59sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 3.59sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 3.60sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.60sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.65sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.65sINFOcontroller_managerLoading controller 'velocity_force_controller' ×2 + 3.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.71sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 3.71sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.72sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.72sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.73sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.73sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.74sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.74sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.75sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.75sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.75sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 3.75sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 3.75sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 3.75sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 3.76sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 3.76sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 3.76sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 3.76sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 3.76sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 3.76sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 3.76sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 3.76sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 3.76sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 3.77sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 3.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.77sINFOcontroller_managerLoading controller 'joint_velocity_controller' ×2 + 3.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.77sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/robotiq_gripper_controller/transition_event" + 3.77sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents" + 3.77sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color" + 3.77sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/robotiq_gripper_controller/transition_event"[0m + 3.77sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents"[0m + 3.77sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 3.78sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status" + 3.78sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info" + 3.78sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status"[0m + 3.78sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info"[0m + 3.86sERRORcontroller_managerA controller named 'joint_velocity_controller' was already loaded inside the controller manager + 3.87sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.87sERRORros2_control_nodeA controller named 'joint_velocity_controller' was already loaded inside the controller manager[0m + 3.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.87sFATALspawner_joint_velocity_controller[91mFailed loading controller [1mjoint_velocity_controller[0m + 3.88sERRORcontroller_managerA controller named 'velocity_force_controller' was already loaded inside the controller manager + 3.88sINFOcontroller_managerLoading controller 'joint_state_broadcaster' ×2 + 3.88sFATALspawner_velocity_force_controller[91mFailed loading controller [1mvelocity_force_controller[0m + 3.88sERRORros2_control_nodeA controller named 'velocity_force_controller' was already loaded inside the controller manager[0m + 3.88sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.88sFATALros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[91mFailed loading controller [1mvelocity_force_controller[0m + 3.90sERRORcontroller_managerA controller named 'joint_state_broadcaster' was already loaded inside the controller manager + 3.91sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.91sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.91sERRORros2_control_nodeA controller named 'joint_state_broadcaster' was already loaded inside the controller manager[0m + 3.91sFATALspawner_joint_state_broadcaster[91mFailed loading controller [1mjoint_state_broadcaster[0m + 3.91sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.91sFATALros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[91mFailed loading controller [1mjoint_state_broadcaster[0m + 3.99sERRORcontroller_managerThe 'type' param was not defined for 'imu_sensor_broadcaster'. + 3.99sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.99sERRORros2_control_nodeThe 'type' param was not defined for 'imu_sensor_broadcaster'.[0m + 3.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' ×2 + 3.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.99sFATALspawner_imu_sensor_broadcaster[91mFailed loading controller [1mimu_sensor_broadcaster[0m + 4.02sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 4.02sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 4.02sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller_nav2'. + 4.02sERRORcontroller_managerThe 'type' param was not defined for 'vacuum_gripper'. + 4.02sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 4.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.03sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.03sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller_nav2'.[0m + 4.03sERRORcontroller_managerA controller named 'joint_trajectory_controller' was already loaded inside the controller manager + 4.03sERRORros2_control_nodeThe 'type' param was not defined for 'vacuum_gripper'.[0m + 4.03sFATALspawner_platform_velocity_controller_nav2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m + 4.03sFATALspawner_vacuum_gripper[91mFailed loading controller [1mvacuum_gripper[0m + 4.03sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 4.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 4.03sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_velocity_force_controller'. + 4.03sFATALspawner_joint_trajectory_controller[91mFailed loading controller [1mjoint_trajectory_controller[0m + 4.03sERRORros2_control_nodeA controller named 'joint_trajectory_controller' was already loaded inside the controller manager[0m + 4.03sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' ×2 + 4.03sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_velocity_force_controller'.[0m + 4.03sFATALros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[91mFailed loading controller [1mjoint_trajectory_controller[0m + 4.03sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.03sFATALspawner_arm_only_velocity_force_controller[91mFailed loading controller [1marm_only_velocity_force_controller[0m + 4.06sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.06sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_joint_velocity_controller'. + 4.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.06sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_joint_velocity_controller'.[0m + 4.06sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller'. + 4.06sERRORcontroller_managerA controller named 'force_torque_sensor_broadcaster' was already loaded inside the controller manager + 4.06sFATALspawner_arm_only_joint_velocity_controller[91mFailed loading controller [1marm_only_joint_velocity_controller[0m + 4.06sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 4.07sFATALspawner_force_torque_sensor_broadcaster[91mFailed loading controller [1mforce_torque_sensor_broadcaster[0m + 4.07sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller'.[0m + 4.07sFATALspawner_platform_velocity_controller[91mFailed loading controller [1mplatform_velocity_controller[0m + 4.07sERRORros2_control_nodeA controller named 'force_torque_sensor_broadcaster' was already loaded inside the controller manager[0m + 4.07sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 4.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 4.16sINFOros2_control_node[2026-06-03 14:34:04.454] [info] Controller state will be published at 10 Hz. + 4.16sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 4.16sINFOros2_control_node[2026-06-03 14:34:04.455] [info] VelocityForceController 'on_configure' succeeded. + 4.16sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 4.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ros2run]: Process exited with failure 1 + 4.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 + 4.20sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has died [pid 25088, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 4.20sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has died [pid 25081, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. + 4.20sINFOros2_control_node[2026-06-03 14:34:04.495] [info] Controller state will be published at 20 Hz. + 4.20sINFOros2_control_node[2026-06-03 14:34:04.497] [info] JointVelocityController 'on_configure' succeeded. + 4.20sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 4.20sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.20sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 4.20sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 4.20sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 4.20sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 4.20sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 4.20sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 4.20sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 4.20sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 4.21sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 4.21sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 4.21sINFOros2_control_node[2026-06-03 14:34:04.501] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.21sINFOros2_control_node[2026-06-03 14:34:04.501] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.24sINFOros2_control_node[2026-06-03 14:34:04.536] [info] First order lag filter time constant set to: 0.2 seconds + 4.24sINFOros2_control_node[2026-06-03 14:34:04.536] [info] Controller state will be published at 50 Hz. + 4.25sINFOros2_control_node[2026-06-03 14:34:04.543] [info] Registered `FollowJointTrajectory` action server. + 4.25sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 4.25sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.25sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 4.25sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 4.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 4.25sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 4.25sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 4.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 4.26sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 4.26sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 4.27sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[ros2run]: Process exited with failure 1 + 4.33sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has died [pid 25083, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller']. + 4.34sINFOobjective_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. + 4.34sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 4.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25092] + 4.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25085] + 4.56sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 25077] + 4.58sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.58sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25079] + 4.60sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event" + 4.60sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event"[0m + 4.60sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command" + 4.60sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/trajectory_execution_event" + 4.60sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command"[0m + 4.60sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/trajectory_execution_event"[0m + 4.61sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/transient_monitored_planning_scene_without_octomap" + 4.61sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 4.61sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/controller_state" + 4.61sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_velocity_controller/command" + 4.61sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/transition_event" + 4.61sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/controller_state"[0m + 4.61sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_velocity_controller/command"[0m + 4.61sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/transition_event"[0m + 4.61sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.61sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/controller_state" + 4.61sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_admittance_controller/transition_event" + 4.61sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.61sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.61sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_state_broadcaster/transition_event" + 4.61sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/controller_state"[0m + 4.61sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.61sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.61sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_state_broadcaster/transition_event"[0m + 4.61sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.61sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench" + 4.62sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.62sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.62sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory" + 4.62sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/transition_event" + 4.62sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/dynamic_joint_states" + 4.62sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/transition_event" + 4.62sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/dynamic_joint_states"[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/transition_event"[0m + 4.63sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/velocity_force_controller/controller_state" + 4.63sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_controller/state" + 4.63sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/velocity_force_controller/controller_state"[0m + 4.63sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_controller/state"[0m + 4.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 4.66sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 4.67sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 4.70sINFOmove_group ×2 + 4.70sINFOmove_group[92mYou can start planning now![0m + 4.98sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 5.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 5.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 5.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780497245.90097523 seconds. ×2 + 5.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780497245.91114354 seconds ×2 + 5.83sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 5.83sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 6.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780497246.45494151 seconds. ×2 + 6.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.35sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.35sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 7.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780497247.56506133 seconds ×2 + 7.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 seconds. ×2 + 8.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 9.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 9.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 9.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	52 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780497247.56506133 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 3.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 4.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.20sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 4.21sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 6.34sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.69sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.71sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.71sINFOros2_control_node[2026-06-03 14:34:14.273] [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 + 0.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780497247.56506133 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.96sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 seconds. ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 4.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.13sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 5.13sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 7.26sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.1s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	createvector.xml	0.0s	63 info
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780497245.90097523 seconds. ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780497245.91114354 seconds ×2 + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780497246.45494151 seconds. ×2 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780497247.56506133 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 seconds. ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 6.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 6.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.78sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal
− skipped	—	addtovector.xml	0.0s	2 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-14-31-06-300028-abd2d89435b6-24211 + 0.00sINFOlaunchDefault logging verbosity is set to INFO
− skipped	—	addtovector.xml	0.0s	5 warnings · 177 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/2026-06-03-14-33-59-758928-abd2d89435b6-25045 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.22sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.30sINFOros2_control_node-1process started with pid [25075] + 1.30sINFOmove_group-9process started with pid [25095] + 1.30sINFOparameter_manager_node-10process started with pid [25098] + 1.30sINFOwaypoint_manager_node-11process started with pid [25145] + 1.30sINFOmove_joint_resampler_node-12process started with pid [25147] + 1.30sINFOmove_end_effector_resampler_node-13process started with pid [25149] + 1.30sINFOobjective_server_node_main-14process started with pid [25151] + 1.30sINFOcomponent_container_mt-15process started with pid [25153] + 1.30sINFOexecute_objective_bridge-16process started with pid [25155] + 1.30sINFOui_teleop_bridge-17process started with pid [25157] + 1.30sINFOfoxglove_bridge-18process started with pid [25159] + 1.30sINFOtf2_web_republisher_node-19process started with pid [25176] + 1.30sINFOweb_video_server-20process started with pid [25178] + 1.30sINFOparameter_manager_nodeStarted parameter manager node. + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25077] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25079] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25081] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25083] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25085] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25088] + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25092] + 1.32sWARNros2_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 + 1.32sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.39sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.39sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.41sINFOfoxglove_bridgeServer listening on port 3201 + 1.41sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.42sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.42sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.42sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.42sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.61sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.62sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.62sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.63sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.63sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.02sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.10sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf" + 2.11sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf"[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description_semantic" + 2.11sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description_semantic"[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description" + 2.11sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description"[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint" + 2.11sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint"[0m + 2.11sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat" + 2.11sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/objective_server_heartbeat"[0m + 2.12sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 2.13sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.13sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.14sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.15sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/store_joint_state" + 2.15sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.16sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/store_joint_state"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/joint_states" + 2.16sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/agent_interface/move_joint" + 2.16sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/tf_static" + 2.16sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.16sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_end_effector" + 2.16sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/joint_states"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/agent_interface/move_joint"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/tf_static"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_end_effector"[0m + 2.29sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOros2_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. + 2.30sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.30sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.33sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.37sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.38sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.39sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.41sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.11sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world" + 3.11sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene" + 3.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene" + 3.13sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene"[0m + 3.14sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene"[0m + 3.14sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object" + 3.14sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object"[0m + 3.14sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object" + 3.14sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object"[0m + 3.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.38sINFOobjective_server_node[2026-06-03 14:34:03.677] [moveit_pro_license] [info] + 3.38sINFOobjective_server_node************************************************* ×2 + 3.38sINFOobjective_server_node* MoveIt Pro License + 3.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.58sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.58sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.58sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.58sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.58sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.58sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.59sINFOcontroller_managerupdate rate is 600 Hz + 3.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.59sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.59sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.59sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 3.59sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 3.60sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.60sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.65sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.65sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.71sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 3.71sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.72sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.72sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.72sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.73sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.73sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.74sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.74sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.75sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.75sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.75sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 3.75sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 3.75sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 3.75sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 3.76sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 3.76sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 3.76sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 3.76sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 3.76sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 3.76sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 3.76sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 3.76sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 3.76sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 3.77sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 3.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.77sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.77sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/robotiq_gripper_controller/transition_event" + 3.77sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents" + 3.77sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color" + 3.77sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/robotiq_gripper_controller/transition_event"[0m + 3.77sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents"[0m + 3.77sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 3.78sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status" + 3.78sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info" + 3.78sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status"[0m + 3.78sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info"[0m
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	11 errors · 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 + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOlocal_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 + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×4 + 0.14sINFOmove_group******************************************************** ×2 + 0.14sINFOmove_group* MoveGroup using: + 0.14sINFOmove_group* - apply_planning_scene_service + 0.14sINFOmove_group* - clear_octomap_service + 0.14sINFOmove_group* - ExecuteTaskSolution + 0.14sINFOmove_group* - get_group_urdf + 0.14sINFOmove_group* - load_geometry_from_file + 0.14sINFOmove_group* - get_planning_scene_service + 0.14sINFOmove_group* - kinematics_service + 0.14sINFOmove_group* - save_geometry_to_file + 0.14sINFOmove_group* - GetPlanningGroups + 0.14sINFOmove_group* - SetActiveControllerService + 0.14sINFOmove_group* - URDFPlanningSceneCapability + 0.14sINFOmove_group[0m + 0.14sINFOmove_group[92mYou can start planning now![0m + 1.17sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.18sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.30sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.33sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.44sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	63 info
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780497245.90097523 seconds. ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780497245.91114354 seconds ×2 + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780497246.45494151 seconds. ×2 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780497247.56506133 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 seconds. ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 6.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 6.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.78sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal
− skipped	—	createvector.xml	0.0s	11 errors · 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 + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOlocal_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 + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×4 + 0.14sINFOmove_group******************************************************** ×2 + 0.14sINFOmove_group* MoveGroup using: + 0.14sINFOmove_group* - apply_planning_scene_service + 0.14sINFOmove_group* - clear_octomap_service + 0.14sINFOmove_group* - ExecuteTaskSolution + 0.14sINFOmove_group* - get_group_urdf + 0.14sINFOmove_group* - load_geometry_from_file + 0.14sINFOmove_group* - get_planning_scene_service + 0.14sINFOmove_group* - kinematics_service + 0.14sINFOmove_group* - save_geometry_to_file + 0.14sINFOmove_group* - GetPlanningGroups + 0.14sINFOmove_group* - SetActiveControllerService + 0.14sINFOmove_group* - URDFPlanningSceneCapability + 0.14sINFOmove_group[0m + 0.14sINFOmove_group[92mYou can start planning now![0m + 1.17sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.18sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.30sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.33sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.44sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers
− skipped	—	find_nearest_pose_in_path.xml	0.0s	11 errors · 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 + 0.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.06sINFOlocal_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 + 0.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m + 0.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.14sINFOmove_group ×4 + 0.14sINFOmove_group******************************************************** ×2 + 0.14sINFOmove_group* MoveGroup using: + 0.14sINFOmove_group* - apply_planning_scene_service + 0.14sINFOmove_group* - clear_octomap_service + 0.14sINFOmove_group* - ExecuteTaskSolution + 0.14sINFOmove_group* - get_group_urdf + 0.14sINFOmove_group* - load_geometry_from_file + 0.14sINFOmove_group* - get_planning_scene_service + 0.14sINFOmove_group* - kinematics_service + 0.14sINFOmove_group* - save_geometry_to_file + 0.14sINFOmove_group* - GetPlanningGroups + 0.14sINFOmove_group* - SetActiveControllerService + 0.14sINFOmove_group* - URDFPlanningSceneCapability + 0.14sINFOmove_group[0m + 0.14sINFOmove_group[92mYou can start planning now![0m + 1.17sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.18sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.30sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.33sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.37sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.44sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.53sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.61sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers
− skipped	—	find_nearest_pose_in_path.xml	0.0s	63 info
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780497245.90097523 seconds. ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780497245.91114354 seconds ×2 + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780497246.45494151 seconds. ×2 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780497247.56506133 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 seconds. ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 6.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 6.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.78sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal
− skipped	—	request_teleoperation.xml	0.0s	45 info
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780497247.56506133 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.96sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 seconds. ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 4.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.13sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 5.13sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal
− skipped	—	teleoperate.xml	0.0s	46 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780497247.56506133 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 3.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 4.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.20sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 4.21sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 6.34sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal

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

1 fail1 pass

! error	—	reset_mujoco_sim.xml	5.0s	24 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24
✓ passed	—	reset_mujoco_sim.xml	0.6s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [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	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	interactive_marker_visualization.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	interactive_marker_visualization_example.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [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	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [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	42.0s	129 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780497352.18794847 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780497352.77591896 seconds. ×2 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239553083 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239582404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:35:53.713069710 [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 14:35:53.713101131 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.808424906 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810615478 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810636019 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 14:35:54.085010704 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100818703 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100854634 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.78sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780497354.96447444 seconds ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780497355.68484282 seconds. ×2 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.58sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.59sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Accepted new action goal + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Received new action goal + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Accepted new action goal + 9.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 9.93sINFOros2_control_node[2026-06-03 14:36:02.121] [info] Received new action goal + 9.93sINFOros2_control_node[2026-06-03 14:36:02.121] [info] Accepted new action goal + 12.89sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 12.89sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.94sINFOros2_control_node[2026-06-03 14:36:05.130] [info] Received new action goal + 12.94sINFOros2_control_node[2026-06-03 14:36:05.130] [info] Accepted new action goal + 15.89sINFOobjective_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 + 21.72sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 2:10.003 of wall time (53/40209). Below 1% is expected on a non-realtime system.[0m + 22.67sINFOobjective_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 + 23.60sINFOros2_control_node[2026-06-03 14:36:15.788] [info] Received new action goal + 23.60sINFOros2_control_node[2026-06-03 14:36:15.788] [info] Accepted new action goal + 24.78sINFOobjective_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 + 24.79sINFOobjective_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 + 25.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 25.04sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.08sINFOros2_control_node[2026-06-03 14:36:17.267] [info] Received new action goal + 25.08sINFOros2_control_node[2026-06-03 14:36:17.267] [info] Accepted new action goal + 27.19sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 27.19sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.20sINFOros2_control_node[2026-06-03 14:36:19.388] [info] Received new action goal + 27.20sINFOros2_control_node[2026-06-03 14:36:19.388] [info] Accepted new action goal + 30.24sINFOros2_control_node[2026-06-03 14:36:22.428] [info] Received new action goal + 30.24sINFOros2_control_node[2026-06-03 14:36:22.428] [info] Accepted new action goal + 32.83sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 32.83sINFOobjective_server_nodePath shortcutter: [X________________X] + 32.86sINFOros2_control_node[2026-06-03 14:36:25.047] [info] Received new action goal + 32.86sINFOros2_control_node[2026-06-03 14:36:25.047] [info] Accepted new action goal + 43.79sINFOros2_control_node[2026-06-03 14:36:35.974] [info] Received new action goal + 43.79sINFOros2_control_node[2026-06-03 14:36:35.974] [info] Accepted new action goal + 44.94sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780497397.13123178 seconds ×2 + 45.64sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780497397.82434130 seconds. ×2 + 45.68sINFOfoxglove_bridgeRemoving channel 69 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 45.68sINFOfoxglove_bridgeRemoving channel 69 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 46.84sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 46.85sINFOros2_control_node[2026-06-03 14:36:39.038] [info] Received new action goal + 46.85sINFOros2_control_node[2026-06-03 14:36:39.038] [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	37.9s	4 errors · 13979 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780497408.71447825 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780497409.28338051 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X___X] + 0.72sINFOros2_control_node[2026-06-03 14:36:49.437] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 14:36:49.437] [info] Accepted new action goal + 0.74sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m + 1.99sINFOobjective_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 + 2.00sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 4.14sINFOjoint_trajectory_controllerReceived new action goal ×3463 + 4.14sINFOjoint_trajectory_controllerAccepted new action goal ×3462 + 4.14sINFOros2_control_nodeReceived new action goal[0m ×3463 + 4.14sINFOros2_control_nodeAccepted new action goal[0m ×3462 + 9.06sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.16sINFOjoint_trajectory_controllerGoal reached, success! ×41 + 9.16sINFOros2_control_nodeGoal reached, success![0m ×41 + 25.19sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.19% of iterations over budget over 3:10.006 of wall time (109/58740). Below 1% is expected on a non-realtime system.[0m + 37.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497440.608512) that ends in the past (1780497446.108512) + 37.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497440.608512) that ends in the past (1780497446.108512)[0m + 37.87sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 37.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780497446.59445071 seconds ×2 + 38.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780497447.16223049 seconds. ×2 + 38.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 38.58sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 38.59sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 38.62sINFOros2_control_node[2026-06-03 14:37:27.328] [info] Received new action goal + 38.62sINFOros2_control_node[2026-06-03 14:37:27.328] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	33.0s	2 errors · 80 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 (3.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780497262.14286351 seconds ×2 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780497262.68597031 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780497262.79608941 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780497263.43417740 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Received new action goal + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Accepted new action goal + 25.68sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 25.68sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 26.19sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 26.19sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 28.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 28.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 28.53sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 28.72sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 28.72sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 28.80sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 28.80sINFOobjective_server_nodePath shortcutter: [X___________X] + 28.81sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 28.82sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 28.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 28.87sINFOobjective_server_nodeFound path in 1 iterations (0.00282631 s). + 28.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 28.99sINFOros2_control_node[2026-06-03 14:34:50.203] [info] Received new action goal + 28.99sINFOros2_control_node[2026-06-03 14:34:50.203] [info] Accepted new action goal + 31.51sINFOros2_control_node[2026-06-03 14:34:52.725] [info] Received new action goal + 31.51sINFOros2_control_node[2026-06-03 14:34:52.725] [info] Accepted new action goal + 33.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 33.28sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Received new action goal + 33.28sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Accepted new action goal + 34.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780497295.87432885 seconds ×2 + 35.23sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780497296.45106912 seconds. ×2 + 35.29sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 35.29sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 35.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780497296.53122449 seconds ×2 + 35.93sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780497297.14191842 seconds. ×2 + 36.03sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 36.03sINFOobjective_server_nodePath shortcutter: [X_____________X] + 36.04sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Received new action goal + 36.04sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Accepted new action goal + 36.29sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 36.29sINFOfoxglove_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	30.3s	2 errors · 107 info
+ 0.00sINFOobjective_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 + 0.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 0.93sERRORobjective_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 + 0.93sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780497485.50322604 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.95sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780497486.10989141 seconds. ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.60sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.60sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.61sINFOobjective_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 + 2.70sINFOobjective_server_nodeFound path in 7 iterations (0.00553897 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.77sINFOros2_control_node[2026-06-03 14:38:07.334] [info] Received new action goal + 2.77sINFOros2_control_node[2026-06-03 14:38:07.334] [info] Accepted new action goal + 9.34sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 4:10.009 of wall time (173/77192). Below 1% is expected on a non-realtime system.[0m + 10.41sINFOobjective_server_node[0;m[0;93m2026-06-03 14:38:14.978922499 [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 + 10.41sINFOobjective_server_node[0;93m2026-06-03 14:38:14.978951020 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.88sINFOobjective_server_node[0;93m2026-06-03 14:38:15.449699585 [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 + 10.88sINFOobjective_server_node[0;93m2026-06-03 14:38:15.449728666 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.98sINFOobjective_server_node[0;93m2026-06-03 14:38:15.549776283 [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 + 10.98sINFOobjective_server_node[0;93m2026-06-03 14:38:15.552036807 [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 + 10.98sINFOobjective_server_node[0;93m2026-06-03 14:38:15.552056648 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.27sINFOobjective_server_node[0;93m2026-06-03 14:38:15.844293484 [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 + 11.29sINFOobjective_server_node[0;93m2026-06-03 14:38:15.858556935 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.29sINFOobjective_server_node[0;93m2026-06-03 14:38:15.858601346 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.18sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization" + 12.18sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization"[0m + 12.82sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 16.52sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 16.71sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 16.72sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m + 16.84sINFOobjective_server_nodeFound path in 4 iterations (0.00194527 s). + 16.90sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 16.93sINFOobjective_server_nodeFound path in 12 iterations (0.00390369 s). + 16.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 17.00sINFOobjective_server_nodeFound path in 1 iterations (0.00214938 s). + 17.04sINFOobjective_server_nodePath shortcutter: [X______________________________________X__________________X] + 17.05sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×4 + 17.07sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 17.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 17.13sINFOobjective_server_nodeFound path in 12 iterations (0.00553335 s). + 17.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 17.20sINFOobjective_server_nodeFound path in 1 iterations (0.003567 s). + 17.24sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 17.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 17.30sINFOobjective_server_nodeFound path in 4 iterations (0.00414575 s). + 17.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 17.37sINFOobjective_server_nodeFound path in 4 iterations (0.0020953 s). + 17.44sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] + 17.46sINFOobjective_server_nodeFound path in 1 iterations (0.00356569 s). + 17.50sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 17.52sINFOobjective_server_nodeFound path in 1 iterations (0.00212955 s). + 17.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] + 17.60sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 17.63sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 17.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] + 17.71sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 17.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] + 17.86sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] + 17.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 17.90sINFOros2_control_node[2026-06-03 14:38:22.469] [info] Received new action goal + 17.90sINFOros2_control_node[2026-06-03 14:38:22.469] [info] Accepted new action goal + 22.90sINFOros2_control_node[2026-06-03 14:38:27.471] [info] Received new action goal + 22.90sINFOros2_control_node[2026-06-03 14:38:27.471] [info] Accepted new action goal + 24.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 24.63sINFOros2_control_node[2026-06-03 14:38:29.195] [info] Received new action goal + 24.63sINFOros2_control_node[2026-06-03 14:38:29.195] [info] Accepted new action goal + 25.82sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 25.86sINFOros2_control_node[2026-06-03 14:38:30.426] [info] Received new action goal + 25.86sINFOros2_control_node[2026-06-03 14:38:30.426] [info] Accepted new action goal + 31.23sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780497515.80241704 seconds ×2 + 31.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780497516.48815322 seconds. ×2 + 32.13sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 32.13sINFOobjective_server_nodePath shortcutter: [X______X] + 32.16sINFOros2_control_node[2026-06-03 14:38:36.724] [info] Received new action goal + 32.16sINFOros2_control_node[2026-06-03 14:38:36.724] [info] Accepted new action goal + 32.36sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 32.36sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 32.36sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 32.36sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 32.36sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 32.36sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[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	24.7s	44 errors · 7168 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1690 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1669 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1690 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1669 + 1.09sINFOjoint_trajectory_controllerGoal reached, success! ×208 + 1.09sINFOros2_control_nodeGoal reached, success![0m ×208 + 2.50sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 2.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497440.608512) that ends in the past (1780497446.108512) + 2.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497440.608512) that ends in the past (1780497446.108512)[0m + 3.06sERRORobjective_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 + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780497446.59445071 seconds ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780497447.16223049 seconds. ×2 + 3.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.80sINFOros2_control_node[2026-06-03 14:37:27.328] [info] Received new action goal + 3.80sINFOros2_control_node[2026-06-03 14:37:27.328] [info] Accepted new action goal + 7.75sINFOobjective_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 + 7.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 10.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497453.718319) + 10.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497453.718319)[0m + 10.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497453.728319) + 10.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497453.728319)[0m + 10.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497454.258319) + 10.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497454.258319)[0m + 10.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497454.268320) + 10.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497454.268320)[0m + 11.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497454.948319) + 11.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497454.948319)[0m + 11.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497454.958319) + 11.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497454.958319)[0m + 11.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497455.478319) + 11.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497455.478319)[0m + 12.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497456.148319) + 12.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497456.148319)[0m + 13.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497456.658319) + 13.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497456.658319)[0m + 13.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497456.668319) + 13.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497456.668319)[0m + 14.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497458.488319) ×2 + 14.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497458.488319)[0m ×2 + 14.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497458.498319) + 14.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497458.498319)[0m + 16.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497459.698319) + 16.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497459.698319)[0m + 16.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497460.238319) ×2 + 16.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497460.238319)[0m ×2 + 16.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497460.248319) + 16.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497460.248319)[0m + 17.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497461.478319) + 17.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497461.478319)[0m + 27.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780497471.30757403 seconds ×2 + 27.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.368320) + 27.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.378319) + 27.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.368320)[0m + 27.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.378319)[0m + 28.38sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780497471.90437889 seconds. ×2 + 28.53sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 28.54sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view" + 28.54sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view"[0m + 28.55sINFOros2_control_node[2026-06-03 14:37:52.078] [info] Received new action goal + 28.55sINFOros2_control_node[2026-06-03 14:37:52.078] [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	14.2s	6 errors · 975 info
+ 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×218 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×220 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×218 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×219 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×29 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×29 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780497471.30757403 seconds ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.368320) + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.378319) + 3.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.368320)[0m + 3.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.378319)[0m + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780497471.90437889 seconds. ×2 + 3.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.82sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.82sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view" + 3.82sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.83sINFOros2_control_node[2026-06-03 14:37:52.078] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-03 14:37:52.078] [info] Accepted new action goal + 8.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 8.47sINFOros2_control_node[2026-06-03 14:37:56.712] [info] Received new action goal + 8.47sINFOros2_control_node[2026-06-03 14:37:56.712] [info] Accepted new action goal + 10.36sINFOros2_control_node[2026-06-03 14:37:58.605] [info] Received new action goal + 10.36sINFOros2_control_node[2026-06-03 14:37:58.605] [info] Accepted new action goal + 16.33sINFOobjective_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 + 16.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 17.26sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 17.26sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780497485.50322604 seconds ×2 + 17.87sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780497486.10989141 seconds. ×2 + 17.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 17.87sINFOros2_control_nodeReceived & accepted new action goal[0m + 17.93sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 17.93sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 19.03sINFOobjective_server_nodeFound path in 7 iterations (0.00553897 s). + 19.07sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 19.09sINFOros2_control_node[2026-06-03 14:38:07.334] [info] Received new action goal + 19.09sINFOros2_control_node[2026-06-03 14:38:07.334] [info] Accepted new action goal
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.8s	23 errors · 2 warnings · 140 info
+ 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Got request to cancel active goal. + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780497570.53284287 seconds ×2 + 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Canceling active goal... + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780497571.16004348 seconds. ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.84sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780497572.25017619 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780497572.79841447 seconds. ×2 + 2.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.27sINFOobjective_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 + 2.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780497572.80010676 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.34sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.35sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780497573.34456253 seconds. ×2 + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780497573.34491944 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780497573.89079928 seconds. ×2 + 5.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780497576.04093146 seconds ×2 + 5.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.87sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.92sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 10.93sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.93sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.94sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.95sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.95sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 10.95sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 10.96sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 10.96sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 10.97sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 10.97sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 10.98sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 10.99sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 10.99sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 11.00sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 11.01sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 11.02sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 11.02sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 11.03sINFOcontroller_managerShutdown request received.... + 11.03sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.03sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.03sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.03sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.03sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.03sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.03sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 11.03sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.03sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.03sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.03sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.03sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.03sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.03sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.03sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 11.03sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 11.03sINFOcontroller_managerShutting down the controller manager. + 11.03sERRORui_teleop_bridgeTraceback (most recent call last): + 11.03sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 11.03sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 11.03sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main + 11.03sINFOui_teleop_bridgerclpy.shutdown() + 11.03sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 11.03sINFOui_teleop_bridge_shutdown(context=context) + 11.03sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 11.03sINFOui_teleop_bridgereturn context.shutdown() + 11.03sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 11.03sINFOui_teleop_bridgeself.__context.shutdown() + 11.03sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 11.03sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.03sINFOros2_control_nodeShutdown request received....[0m + 11.03sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 11.03sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 11.03sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 11.03sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 11.03sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 11.03sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 11.03sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 11.03sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 11.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 11.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 11.03sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 11.03sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 11.03sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 11.03sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 11.03sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 11.03sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 11.03sINFOros2_control_nodeShutting down the controller manager.[0m + 11.09sINFOobjective_server_node[0;m[2026-06-03 14:39:41.625] [moveit_pro_license] [info] + 11.10sINFOobjective_server_node************************************************* ×2 + 11.10sINFOobjective_server_node* MoveIt Pro License + 11.10sINFOobjective_server_node* Application has successfully terminated + 11.17sINFOtf2_web_republisher_node-19process has finished cleanly [pid 25176] + 11.17sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 11.18sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 11.18sERRORobjective_server_nodeStack trace (most recent call last): + 11.18sINFOweb_video_server-20process has finished cleanly [pid 25178] + 11.19sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 11.19sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55eb623f34e4, in _start + 11.19sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f159593ae3f, in __libc_start_main + 11.19sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f159593ad96, in + 11.19sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f159595660f, in exit + 11.19sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1595956494, in + 11.19sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f1595ddd251, in spdlog::details::registry::~registry() + 11.19sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f1595de7e66, 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() + 11.19sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55eb623f8cba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 11.19sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55eb623f5bf3, in spdlog_ros::RosSink::~RosSink() + 11.19sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55eb623fae01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 11.19sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f15962d4b2e, in rclcpp::Node::~Node() + 11.19sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f15962afd39, in + 11.19sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f15962de0b9, in + 11.19sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f15962de000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 11.19sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f15962afd39, in + 11.19sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f15962b4b31, in rclcpp::CallbackGroup::~CallbackGroup() + 11.19sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f1545ced3f0]) + 11.20sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 25149] + 11.21sERRORui_teleop_bridge-17process has died [pid 25157, 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_s_kr_slc']. + 11.23sINFOexecute_objective_bridge-16process has finished cleanly [pid 25155] + 11.41sINFOfoxglove_bridgeShutdown complete[0m + 11.83sERRORobjective_server_node_main-14process has died [pid 25151, 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_7pfa5g60 --params-file /tmp/launch_params_vpnpdltk --params-file /tmp/launch_params_2mpjcp20 --params-file /tmp/launch_params_jq5zkyv7 --params-file /tmp/launch_params_uw61blyo --params-file /tmp/launch_params_tj2zlez0']. + 11.83sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 12.03sINFOmove_joint_resampler_node-12process has finished cleanly [pid 25147] + 12.06sINFOparameter_manager_node-10process has finished cleanly [pid 25098] + 12.08sINFOwaypoint_manager_node-11process has finished cleanly [pid 25145] + 12.20sINFOcomponent_container_mt-15process has finished cleanly [pid 25153] + 12.34sINFOmove_group-9process has finished cleanly [pid 25095] + 13.22sINFOfoxglove_bridge-18process has finished cleanly [pid 25159] + 13.22sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system + 13.50sINFOros2_control_node-1process has finished cleanly [pid 25075]
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.7s	2 errors · 65 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00203518 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.19sINFOros2_control_node[2026-06-03 14:35:28.438] [info] Received new action goal + 0.19sINFOros2_control_node[2026-06-03 14:35:28.438] [info] Accepted new action goal + 0.63sINFOros2_control_node[2026-06-03 14:35:28.880] [info] Received new action goal + 0.63sINFOros2_control_node[2026-06-03 14:35:28.880] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-03 14:35:29.523] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-03 14:35:29.523] [info] Canceling active goal... + 1.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780497329.54757190 seconds ×2 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.91sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780497330.16667223 seconds. ×2 + 2.05sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.05sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.05sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.05sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 2.09sINFOros2_control_node[2026-06-03 14:35:30.342] [info] Received new action goal + 2.09sINFOros2_control_node[2026-06-03 14:35:30.342] [info] Accepted new action goal + 4.42sINFOros2_control_node[2026-06-03 14:35:32.676] [info] Received new action goal + 4.42sINFOros2_control_node[2026-06-03 14:35:32.676] [info] Accepted new action goal + 12.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780497341.23127127 seconds ×2 + 13.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780497341.86968136 seconds. ×2 + 13.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 13.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 13.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780497341.94000840 seconds ×2 + 14.24sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780497342.49161029 seconds. ×2 + 14.34sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 14.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.36sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Received new action goal + 14.36sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Accepted new action goal + 16.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780497344.62274742 seconds ×2 + 16.92sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780497345.16877675 seconds. ×2 + 17.03sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 17.03sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Received new action goal + 17.03sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Accepted new action goal
✓ passed	Push Button	move_with_velocity_and_force.xml	11.6s	51 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.11sINFOros2_control_node[2026-06-03 14:36:35.974] [info] Received new action goal + 1.11sINFOros2_control_node[2026-06-03 14:36:35.974] [info] Accepted new action goal + 2.27sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780497397.13123178 seconds ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780497397.82434130 seconds. ×2 + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.01sINFOfoxglove_bridgeRemoving channel 69 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.18sINFOros2_control_node[2026-06-03 14:36:39.038] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:36:39.038] [info] Accepted new action goal + 7.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 10.23sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 10.23sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.25sINFOros2_control_node[2026-06-03 14:36:45.109] [info] Received new action goal + 10.25sINFOros2_control_node[2026-06-03 14:36:45.109] [info] Accepted new action goal + 13.85sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780497408.71447825 seconds ×2 + 14.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780497409.28338051 seconds. ×2 + 14.57sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 14.57sINFOobjective_server_nodePath shortcutter: [X___X] + 14.57sINFOros2_control_node[2026-06-03 14:36:49.437] [info] Received new action goal + 14.57sINFOros2_control_node[2026-06-03 14:36:49.437] [info] Accepted new action goal + 14.59sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 14.59sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m + 15.84sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 15.85sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'.
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.0s	2 errors · 80 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 0.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 1.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 1.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 1.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 1.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 1.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 2.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 2.60sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 2.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.63sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 2.63sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 4.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 4.76sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 5.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.13sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 5.13sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal + 8.84sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 8.86sINFOros2_control_node[2026-06-03 14:34:17.998] [info] Received new action goal + 8.86sINFOros2_control_node[2026-06-03 14:34:17.998] [info] Accepted new action goal + 12.15sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 12.15sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.17sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Received new action goal + 12.17sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Accepted new action goal + 12.98sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Got request to cancel active goal. + 12.98sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Canceling active goal... + 13.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780497262.14286351 seconds ×2 + 13.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780497262.68597031 seconds. ×2 + 13.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780497262.79608941 seconds ×2 + 14.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780497263.43417740 seconds. ×2 + 14.61sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.61sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.43sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 15.43sINFOobjective_server_nodePath shortcutter: [X______X] + 15.44sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Received new action goal + 15.45sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Accepted new action goal
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	11.0s	2 errors · 66 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780497295.87432885 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780497296.45106912 seconds. ×2 + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780497296.53122449 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780497297.14191842 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Accepted new action goal + 8.81sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 8.82sINFOros2_control_node[2026-06-03 14:35:02.933] [info] Received new action goal + 8.82sINFOros2_control_node[2026-06-03 14:35:02.933] [info] Accepted new action goal + 11.14sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 11.16sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 11.16sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 13.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 14.11sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 14.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 14.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 14.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 14.47sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 15.24sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 15.24sINFOobjective_server_nodePath shortcutter: [X______X] + 15.25sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 15.25sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	4 errors · 106 info
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 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 + 0.24sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 0.24sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 0.26sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.26sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.26sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 0.26sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 0.37sINFOobjective_server_nodeFound path in 1 iterations (0.00176098 s). + 0.44sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 0.46sINFOobjective_server_nodeFound path in 1 iterations (0.00285077 s). + 0.51sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.63sINFOros2_control_node[2026-06-03 14:35:17.021] [info] Received new action goal + 0.63sINFOros2_control_node[2026-06-03 14:35:17.021] [info] Accepted new action goal + 2.13sINFOros2_control_node[2026-06-03 14:35:18.526] [info] Got request to cancel active goal. + 2.13sINFOros2_control_node[2026-06-03 14:35:18.526] [info] Canceling active goal... + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780497318.55309391 seconds ×2 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780497319.13368559 seconds. ×2 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.80sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.80sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.80sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.80sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] + 2.94sINFOros2_control_node[2026-06-03 14:35:19.329] [info] Received new action goal + 2.94sINFOros2_control_node[2026-06-03 14:35:19.329] [info] Accepted new action goal + 6.83sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/pcd_pointcloud_captures" + 6.83sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/pcd_pointcloud_captures"[0m + 7.33sINFOfoxglove_bridgeRemoving channel 64 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 7.33sINFOfoxglove_bridgeRemoving channel 64 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 8.79sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). + 8.79sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). + 8.80sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 8.84sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/solution" + 8.84sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/solution"[0m + 8.86sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 8.90sINFOobjective_server_nodeFound path in 1 iterations (0.00278961 s). + 8.98sINFOobjective_server_nodeFound path in 1 iterations (0.0030091 s). + 9.04sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 9.14sINFOros2_control_node[2026-06-03 14:35:25.529] [info] Received new action goal + 9.14sINFOros2_control_node[2026-06-03 14:35:25.529] [info] Accepted new action goal + 11.86sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). + 11.86sINFOobjective_server_nodePath shortcutter: [X_X] + 11.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 11.87sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 11.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 11.92sINFOobjective_server_nodeFound path in 1 iterations (0.00203518 s). + 12.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 12.04sINFOros2_control_node[2026-06-03 14:35:28.438] [info] Received new action goal + 12.05sINFOros2_control_node[2026-06-03 14:35:28.438] [info] Accepted new action goal + 12.49sINFOros2_control_node[2026-06-03 14:35:28.880] [info] Received new action goal + 12.49sINFOros2_control_node[2026-06-03 14:35:28.880] [info] Accepted new action goal + 13.13sINFOros2_control_node[2026-06-03 14:35:29.523] [info] Got request to cancel active goal. + 13.13sINFOros2_control_node[2026-06-03 14:35:29.523] [info] Canceling active goal... + 13.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780497329.54757190 seconds ×2 + 13.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780497330.16667223 seconds. ×2 + 13.91sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.91sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.91sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.91sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 13.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 13.95sINFOros2_control_node[2026-06-03 14:35:30.342] [info] Received new action goal + 13.95sINFOros2_control_node[2026-06-03 14:35:30.342] [info] Accepted new action goal + 16.28sINFOros2_control_node[2026-06-03 14:35:32.676] [info] Received new action goal + 16.28sINFOros2_control_node[2026-06-03 14:35:32.676] [info] Accepted new action goal
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	4 errors · 75 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal + 8.72sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.17% of iterations over budget over 1:10.001 of wall time (36/21673). Below 1% is expected on a non-realtime system.[0m + 9.44sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 9.44sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 9.94sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 9.94sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 11.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.21sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 11.45sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 11.45sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 11.47sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 11.47sINFOobjective_server_nodePath shortcutter: [X__________X] + 11.47sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 11.48sINFOobjective_server_nodePath shortcutter: [X________________X] + 11.48sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 11.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 11.51sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). + 11.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 11.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 11.58sINFOobjective_server_nodeFound path in 1 iterations (0.00176098 s). + 11.65sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 11.67sINFOobjective_server_nodeFound path in 1 iterations (0.00285077 s). + 11.72sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 11.75sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 11.81sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 11.84sINFOros2_control_node[2026-06-03 14:35:17.021] [info] Received new action goal + 11.84sINFOros2_control_node[2026-06-03 14:35:17.021] [info] Accepted new action goal + 13.34sINFOros2_control_node[2026-06-03 14:35:18.526] [info] Got request to cancel active goal. + 13.34sINFOros2_control_node[2026-06-03 14:35:18.526] [info] Canceling active goal... + 13.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780497318.55309391 seconds ×2 + 13.95sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780497319.13368559 seconds. ×2 + 14.01sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.01sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.01sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.01sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.15sINFOros2_control_node[2026-06-03 14:35:19.329] [info] Received new action goal + 14.15sINFOros2_control_node[2026-06-03 14:35:19.329] [info] Accepted new action goal
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	4 errors · 38 info
+ 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 13.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780497537.52950692 seconds ×2 + 14.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780497538.07512236 seconds. ×2 + 14.15sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.15sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 14.36sINFOobjective_server_nodePath shortcutter: [X________________X] + 14.37sINFOros2_control_node[2026-06-03 14:38:58.312] [info] Received new action goal + 14.37sINFOros2_control_node[2026-06-03 14:38:58.312] [info] Accepted new action goal
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	10.8s	2 errors · 68 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 1.01sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780497515.80241704 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780497516.48815322 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X______X] + 1.93sINFOros2_control_node[2026-06-03 14:38:36.724] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:38:36.724] [info] Accepted new action goal + 2.14sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.14sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.14sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 6.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.21sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X___________X] + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________X] + 6.48sINFOobjective_server_nodeFound path in 0 iterations (1.6e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 6.52sINFOobjective_server_nodeFound path in 1 iterations (0.00200302 s). + 6.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 6.60sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 6.63sINFOros2_control_node[2026-06-03 14:38:41.423] [info] Received new action goal + 6.63sINFOros2_control_node[2026-06-03 14:38:41.423] [info] Accepted new action goal + 6.67sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 6.67sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 9.15sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 9.15sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 10.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 10.92sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 10.92sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 11.83sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 11.83sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 11.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 12.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 12.60sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 12.60sINFOobjective_server_nodePath shortcutter: [X________X] + 12.62sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 12.62sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 12.73sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.73sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.73sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.73sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	10.7s	2 errors · 48 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780497547.90549731 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780497548.46912980 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.69sINFOros2_control_node[2026-06-03 14:39:08.589] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-03 14:39:08.589] [info] Accepted new action goal + 0.78sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.78sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 6.01sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 5:10.010 of wall time (200/95695). Below 1% is expected on a non-realtime system.[0m + 10.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780497558.62930489 seconds ×2 + 11.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780497559.25380158 seconds. ×2 + 11.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780497559.33403802 seconds ×2 + 11.87sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.87sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780497559.88024116 seconds. ×2 + 12.00sINFOobjective_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 + 12.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780497559.90227914 seconds ×2 + 12.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780497560.46850491 seconds. ×2 + 12.65sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 12.65sINFOobjective_server_nodePath shortcutter: [X___X] + 12.66sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Received new action goal + 12.66sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Accepted new action goal
✓ passed	Stationary Admittance	stationary_admittance.xml	10.6s	4 errors · 2 warnings · 72 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780497558.62930489 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780497559.25380158 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780497559.33403802 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780497559.88024116 seconds. ×2 + 1.27sINFOobjective_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 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780497559.90227914 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780497560.46850491 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Accepted new action goal + 5.23sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.23sINFOros2_control_node[2026-06-03 14:39:23.861] [info] Received new action goal + 5.23sINFOros2_control_node[2026-06-03 14:39:23.861] [info] Accepted new action goal + 5.23sINFOros2_control_node[2026-06-03 14:39:23.862] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 11.90sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Got request to cancel active goal. + 11.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780497570.53284287 seconds ×2 + 11.90sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Canceling active goal... + 12.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780497571.16004348 seconds. ×2 + 12.74sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 12.74sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 13.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780497572.25017619 seconds ×2 + 14.17sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780497572.79841447 seconds. ×2 + 14.17sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.17sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 14.17sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.17sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780497572.80010676 seconds ×2 + 14.25sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.25sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 14.25sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.25sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 14.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780497573.34456253 seconds. ×2 + 14.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780497573.34491944 seconds ×2 + 14.75sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 14.75sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780497573.89079928 seconds. ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.4s	2 errors · 30 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780497537.52950692 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780497538.07512236 seconds. ×2 + 0.57sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.57sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.78sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.78sINFOros2_control_node[2026-06-03 14:38:58.312] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-03 14:38:58.312] [info] Accepted new action goal + 4.79sINFOros2_control_node[2026-06-03 14:39:02.318] [info] Received new action goal + 4.79sINFOros2_control_node[2026-06-03 14:39:02.318] [info] Accepted new action goal + 10.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780497547.90549731 seconds ×2 + 10.94sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780497548.46912980 seconds. ×2 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 11.04sINFOobjective_server_nodePath shortcutter: [X________X] + 11.06sINFOros2_control_node[2026-06-03 14:39:08.589] [info] Received new action goal + 11.06sINFOros2_control_node[2026-06-03 14:39:08.589] [info] Accepted new action goal + 11.16sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.16sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 12.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	7.6s	87 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780497341.86968136 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: 1780497341.94000840 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780497342.49161029 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780497344.62274742 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780497345.16877675 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.41sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Accepted new action goal + 3.54sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 3.54sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m + 8.06sINFOobjective_server_node[0;93m2026-06-03 14:35:49.930352457 [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 + 8.06sINFOobjective_server_node[0;93m2026-06-03 14:35:49.930390818 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.60sINFOobjective_server_node[0;93m2026-06-03 14:35:50.467855978 [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 + 8.60sINFOobjective_server_node[0;93m2026-06-03 14:35:50.467895079 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.71sINFOobjective_server_node[0;93m2026-06-03 14:35:50.583296125 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 8.72sINFOobjective_server_node[0;93m2026-06-03 14:35:50.585025467 [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 14:35:50.585040287 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.99sINFOobjective_server_node[0;93m2026-06-03 14:35:50.855353355 [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 + 9.00sINFOobjective_server_node[0;93m2026-06-03 14:35:50.870505317 [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 + 9.00sINFOobjective_server_node[0;93m2026-06-03 14:35:50.870545428 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.32sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780497352.18794847 seconds ×2 + 10.61sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 10.61sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 10.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780497352.77591896 seconds. ×2 + 11.37sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239553083 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.37sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239582404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.61sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.61sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.61sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 11.61sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.84sINFOobjective_server_node[0;93m2026-06-03 14:35:53.713069710 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.84sINFOobjective_server_node[0;93m2026-06-03 14:35:53.713101131 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.94sINFOobjective_server_node[0;93m2026-06-03 14:35:53.808424906 [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 + 11.94sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810615478 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 11.94sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810636019 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.22sINFOobjective_server_node[0;93m2026-06-03 14:35:54.085010704 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.23sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100818703 [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 + 12.23sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100854634 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780497354.96447444 seconds ×2 + 13.13sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 13.13sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 13.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780497355.68484282 seconds. ×2 + 13.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.82sINFOros2_control_nodeReceived & accepted new action goal[0m + 13.90sINFOobjective_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 + 13.91sINFOobjective_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 + 14.14sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 14.14sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 14.14sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 14.14sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m + 14.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 14.17sINFOobjective_server_nodePath shortcutter: [X____________X] + 14.20sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Received new action goal + 14.20sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Accepted new action goal
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	2.8s	62 info
+ 0.00sINFOobjective_server_node[0;93m2026-06-03 14:35:49.930352457 [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 14:35:49.930390818 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.54sINFOobjective_server_node[0;93m2026-06-03 14:35:50.467855978 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.54sINFOobjective_server_node[0;93m2026-06-03 14:35:50.467895079 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.65sINFOobjective_server_node[0;93m2026-06-03 14:35:50.583296125 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.65sINFOobjective_server_node[0;93m2026-06-03 14:35:50.585025467 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.65sINFOobjective_server_node[0;93m2026-06-03 14:35:50.585040287 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.93sINFOobjective_server_node[0;93m2026-06-03 14:35:50.855353355 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.94sINFOobjective_server_node[0;93m2026-06-03 14:35:50.870505317 [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 + 0.94sINFOobjective_server_node[0;93m2026-06-03 14:35:50.870545428 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.26sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780497352.18794847 seconds ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.55sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 2.55sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 2.85sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780497352.77591896 seconds. ×2 + 3.31sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239553083 [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 + 3.31sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239582404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.55sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.55sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.55sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.55sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.78sINFOobjective_server_node[0;93m2026-06-03 14:35:53.713069710 [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 + 3.78sINFOobjective_server_node[0;93m2026-06-03 14:35:53.713101131 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.88sINFOobjective_server_node[0;93m2026-06-03 14:35:53.808424906 [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 + 3.88sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810615478 [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 + 3.88sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810636019 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.15sINFOobjective_server_node[0;93m2026-06-03 14:35:54.085010704 [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 + 4.17sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100818703 [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 + 4.17sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100854634 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780497354.96447444 seconds ×2 + 5.07sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 5.07sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 5.75sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780497355.68484282 seconds. ×2 + 5.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 5.83sINFOobjective_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 + 5.84sINFOobjective_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 + 6.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.08sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 6.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.08sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m + 6.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.11sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.14sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Accepted new action goal + 8.98sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 8.99sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Received new action goal + 8.99sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Accepted new action goal
✓ passed	Look at Table	look_at_table.xml	2.7s	35 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780497341.23127127 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780497341.86968136 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780497341.94000840 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780497342.49161029 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.38sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Received new action goal + 1.38sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780497344.62274742 seconds ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780497345.16877675 seconds. ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 4.05sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Accepted new action goal + 4.18sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 4.18sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Close Gripper	close_gripper.xml	1.7s	39 errors · 12 warnings · 263 info
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world" + 0.00sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/planning_scene_world"[0m + 0.02sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene" + 0.02sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene" + 0.02sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene"[0m + 0.02sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/monitored_planning_scene"[0m + 0.02sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object" + 0.02sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/collision_object"[0m + 0.02sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object" + 0.02sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/attached_collision_object"[0m + 0.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.27sINFOobjective_server_node[2026-06-03 14:34:03.677] [moveit_pro_license] [info] + 0.27sINFOobjective_server_node************************************************* ×2 + 0.27sINFOobjective_server_node* MoveIt Pro License + 0.27sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.46sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.46sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.47sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.47sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.47sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.47sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.48sINFOcontroller_managerupdate rate is 600 Hz + 0.48sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.48sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.48sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.48sWARNcontroller_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. + 0.48sWARNros2_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 + 0.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.54sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.59sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 0.59sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.61sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.61sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.61sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.61sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.61sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.61sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.61sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.61sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.62sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 0.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.62sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 0.62sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 0.62sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 0.64sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 0.64sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 0.64sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 0.64sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 0.64sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 0.64sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 0.64sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 0.64sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 0.64sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 0.64sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 0.64sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 0.64sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 0.64sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 0.65sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 0.65sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 0.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.66sINFOcontroller_managerLoading controller 'joint_velocity_controller' ×2 + 0.66sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.66sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/robotiq_gripper_controller/transition_event" + 0.66sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents" + 0.66sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color" + 0.66sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.66sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/blackboard_contents"[0m + 0.66sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 0.66sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status" + 0.66sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info" + 0.66sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/behavior_tree_status"[0m + 0.66sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/camera_info"[0m + 0.75sERRORcontroller_managerA controller named 'joint_velocity_controller' was already loaded inside the controller manager + 0.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.75sERRORros2_control_nodeA controller named 'joint_velocity_controller' was already loaded inside the controller manager[0m + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.76sFATALspawner_joint_velocity_controller[91mFailed loading controller [1mjoint_velocity_controller[0m + 0.76sERRORcontroller_managerA controller named 'velocity_force_controller' was already loaded inside the controller manager + 0.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' ×2 + 0.77sFATALspawner_velocity_force_controller[91mFailed loading controller [1mvelocity_force_controller[0m + 0.77sERRORros2_control_nodeA controller named 'velocity_force_controller' was already loaded inside the controller manager[0m + 0.77sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.77sFATALros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[91mFailed loading controller [1mvelocity_force_controller[0m + 0.79sERRORcontroller_managerA controller named 'joint_state_broadcaster' was already loaded inside the controller manager + 0.79sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.79sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.79sERRORros2_control_nodeA controller named 'joint_state_broadcaster' was already loaded inside the controller manager[0m + 0.79sFATALspawner_joint_state_broadcaster[91mFailed loading controller [1mjoint_state_broadcaster[0m + 0.79sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.79sFATALros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[91mFailed loading controller [1mjoint_state_broadcaster[0m + 0.87sERRORcontroller_managerThe 'type' param was not defined for 'imu_sensor_broadcaster'. + 0.87sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.88sERRORros2_control_nodeThe 'type' param was not defined for 'imu_sensor_broadcaster'.[0m + 0.88sINFOcontroller_managerLoading controller 'joint_trajectory_controller' ×2 + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.88sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.88sFATALspawner_imu_sensor_broadcaster[91mFailed loading controller [1mimu_sensor_broadcaster[0m + 0.91sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.91sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.91sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller_nav2'. + 0.91sERRORcontroller_managerThe 'type' param was not defined for 'vacuum_gripper'. + 0.91sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.91sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.91sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.91sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller_nav2'.[0m + 0.91sERRORcontroller_managerA controller named 'joint_trajectory_controller' was already loaded inside the controller manager + 0.91sERRORros2_control_nodeThe 'type' param was not defined for 'vacuum_gripper'.[0m + 0.91sFATALspawner_platform_velocity_controller_nav2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m + 0.91sFATALspawner_vacuum_gripper[91mFailed loading controller [1mvacuum_gripper[0m + 0.91sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.92sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_velocity_force_controller'. + 0.92sFATALspawner_joint_trajectory_controller[91mFailed loading controller [1mjoint_trajectory_controller[0m + 0.92sERRORros2_control_nodeA controller named 'joint_trajectory_controller' was already loaded inside the controller manager[0m + 0.92sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' ×2 + 0.92sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_velocity_force_controller'.[0m + 0.92sFATALros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[91mFailed loading controller [1mjoint_trajectory_controller[0m + 0.92sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.92sFATALspawner_arm_only_velocity_force_controller[91mFailed loading controller [1marm_only_velocity_force_controller[0m + 0.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.94sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_joint_velocity_controller'. + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.95sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_joint_velocity_controller'.[0m + 0.95sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller'. + 0.95sERRORcontroller_managerA controller named 'force_torque_sensor_broadcaster' was already loaded inside the controller manager + 0.95sFATALspawner_arm_only_joint_velocity_controller[91mFailed loading controller [1marm_only_joint_velocity_controller[0m + 0.95sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.95sFATALspawner_force_torque_sensor_broadcaster[91mFailed loading controller [1mforce_torque_sensor_broadcaster[0m + 0.95sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller'.[0m + 0.95sFATALspawner_platform_velocity_controller[91mFailed loading controller [1mplatform_velocity_controller[0m + 0.95sERRORros2_control_nodeA controller named 'force_torque_sensor_broadcaster' was already loaded inside the controller manager[0m + 0.95sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 1.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 1.05sINFOros2_control_node[2026-06-03 14:34:04.454] [info] Controller state will be published at 10 Hz. + 1.05sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 1.05sINFOros2_control_node[2026-06-03 14:34:04.455] [info] VelocityForceController 'on_configure' succeeded. + 1.05sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ros2run]: Process exited with failure 1 + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 + 1.08sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has died [pid 25088, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 1.08sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has died [pid 25081, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. + 1.09sINFOros2_control_node[2026-06-03 14:34:04.495] [info] Controller state will be published at 20 Hz. + 1.09sINFOros2_control_node[2026-06-03 14:34:04.497] [info] JointVelocityController 'on_configure' succeeded. + 1.09sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 1.09sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.09sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.09sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.09sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.09sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 1.09sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 1.09sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 1.09sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 1.09sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 1.09sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 1.09sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 1.09sINFOros2_control_node[2026-06-03 14:34:04.501] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 1.09sINFOros2_control_node[2026-06-03 14:34:04.501] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 1.13sINFOros2_control_node[2026-06-03 14:34:04.536] [info] First order lag filter time constant set to: 0.2 seconds + 1.13sINFOros2_control_node[2026-06-03 14:34:04.536] [info] Controller state will be published at 50 Hz. + 1.13sINFOros2_control_node[2026-06-03 14:34:04.543] [info] Registered `FollowJointTrajectory` action server. + 1.13sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 1.13sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.13sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 1.14sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 1.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 1.14sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 1.14sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 1.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 1.15sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 1.15sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 1.16sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.16sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.16sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[ros2run]: Process exited with failure 1 + 1.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has died [pid 25083, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller']. + 1.22sINFOobjective_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. + 1.22sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25092] + 1.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25085] + 1.44sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 25077] + 1.46sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.47sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25079] + 1.48sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event" + 1.48sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/transition_event"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command" + 1.49sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/trajectory_execution_event" + 1.49sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/velocity_force_controller/command"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/trajectory_execution_event"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/transient_monitored_planning_scene_without_octomap" + 1.49sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/controller_state" + 1.49sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_velocity_controller/command" + 1.49sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/transition_event" + 1.49sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_velocity_controller/controller_state"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_velocity_controller/command"[0m + 1.49sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/transition_event"[0m + 1.50sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/controller_state" + 1.50sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.50sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.50sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_state_broadcaster/transition_event" + 1.50sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/controller_state"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_state_broadcaster/transition_event"[0m + 1.50sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.50sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench" + 1.50sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.50sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.50sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory" + 1.50sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.50sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/dynamic_joint_states" + 1.51sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/transition_event" + 1.51sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/dynamic_joint_states"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/transition_event"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/velocity_force_controller/controller_state" + 1.51sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_controller/state" + 1.51sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/velocity_force_controller/controller_state"[0m + 1.51sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_controller/state"[0m + 1.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.55sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 1.55sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.58sINFOmove_group ×2 + 1.58sINFOmove_group[92mYou can start planning now![0m + 1.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780497245.90097523 seconds. ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780497245.91114354 seconds ×2 + 2.72sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.72sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 3.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780497246.45494151 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.23sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.23sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780497247.56506133 seconds ×2 + 4.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 seconds. ×2 + 5.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 6.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 6.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 6.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 6.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 7.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 7.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 8.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 8.34sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.36sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 8.36sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.6s	2 errors · 2 warnings · 38 info
+ 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Got request to cancel active goal. + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780497570.53284287 seconds ×2 + 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Canceling active goal... + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780497571.16004348 seconds. ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.84sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780497572.25017619 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780497572.79841447 seconds. ×2 + 2.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.27sINFOobjective_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 + 2.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780497572.80010676 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.34sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.35sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780497573.34456253 seconds. ×2 + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780497573.34491944 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780497573.89079928 seconds. ×2 + 5.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m
✓ passed	Open Gripper	open_gripper.xml	1.6s	63 info
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780497245.90097523 seconds. ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780497245.91114354 seconds ×2 + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.13sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780497246.45494151 seconds. ×2 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.65sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780497247.56506133 seconds ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 seconds. ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780497249.14299655 seconds ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 6.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 6.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.78sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 6.78sINFOros2_control_node[2026-06-03 14:34:11.769] [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: 1780497341.23127127 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780497341.86968136 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780497341.94000840 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780497342.49161029 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.38sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Received new action goal + 1.38sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780497344.62274742 seconds ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780497345.16877675 seconds. ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 4.05sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Accepted new action goal + 4.18sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 4.18sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780497295.87432885 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780497296.45106912 seconds. ×2 + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780497296.53122449 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780497297.14191842 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780497262.14286351 seconds ×2 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780497262.68597031 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780497262.79608941 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780497263.43417740 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Received new action goal + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Accepted new action goal
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.6s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780497558.62930489 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780497559.25380158 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780497559.33403802 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780497559.88024116 seconds. ×2 + 1.27sINFOobjective_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 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780497559.90227914 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780497560.46850491 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [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: 1780497558.62930489 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780497559.25380158 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780497559.33403802 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780497559.88024116 seconds. ×2 + 1.27sINFOobjective_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 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780497559.90227914 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780497560.46850491 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Accepted new action goal
✓ passed	Vector and String Example	vector_and_string_example.xml	0.5s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Got request to cancel active goal. + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780497570.53284287 seconds ×2 + 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Canceling active goal... + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780497571.16004348 seconds. ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.84sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780497572.25017619 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780497572.79841447 seconds. ×2 + 2.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.27sINFOobjective_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 + 2.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780497572.80010676 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.34sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.35sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780497573.34456253 seconds. ×2 + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780497573.34491944 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780497573.89079928 seconds. ×2 + 5.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780497576.04093146 seconds ×2 + 5.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.87sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.92sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.5s	2 errors · 2 warnings · 42 info
+ 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Got request to cancel active goal. + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780497570.53284287 seconds ×2 + 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Canceling active goal... + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780497571.16004348 seconds. ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.84sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780497572.25017619 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780497572.79841447 seconds. ×2 + 2.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.27sINFOobjective_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 + 2.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780497572.80010676 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.34sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.35sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780497573.34456253 seconds. ×2 + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780497573.34491944 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780497573.89079928 seconds. ×2 + 5.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780497576.04093146 seconds ×2 + 5.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.87sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.92sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.1s	2 errors · 28 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780497262.14286351 seconds ×2 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780497262.68597031 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780497262.79608941 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780497263.43417740 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Received new action goal + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Accepted new action goal
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.1s	2 errors · 2 warnings · 36 info
+ 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Got request to cancel active goal. + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780497570.53284287 seconds ×2 + 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Canceling active goal... + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780497571.16004348 seconds. ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.84sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780497572.25017619 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780497572.79841447 seconds. ×2 + 2.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.27sINFOobjective_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 + 2.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780497572.80010676 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.34sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.35sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780497573.34456253 seconds. ×2 + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780497573.34491944 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780497573.89079928 seconds. ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
− skipped	Place Object	place_object.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780497262.14286351 seconds ×2 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780497262.68597031 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780497262.79608941 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780497263.43417740 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Received new action goal + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780497262.14286351 seconds ×2 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780497262.68597031 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780497262.79608941 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780497263.43417740 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Received new action goal + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780497262.14286351 seconds ×2 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780497262.68597031 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780497262.79608941 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780497263.43417740 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Received new action goal + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780497262.14286351 seconds ×2 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780497262.68597031 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780497262.79608941 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780497263.43417740 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Received new action goal + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 14:34:21.311] [info] Accepted new action goal + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Got request to cancel active goal. + 0.91sINFOros2_control_node[2026-06-03 14:34:22.125] [info] Canceling active goal... + 0.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780497262.14286351 seconds ×2 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780497262.68597031 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780497262.79608941 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780497263.43417740 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Received new action goal + 3.37sINFOros2_control_node[2026-06-03 14:34:24.587] [info] Accepted new action goal
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780497295.87432885 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780497296.45106912 seconds. ×2 + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780497296.53122449 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780497297.14191842 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Accepted new action goal
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780497295.87432885 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780497296.45106912 seconds. ×2 + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780497296.53122449 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780497297.14191842 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Accepted new action goal
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780497295.87432885 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780497296.45106912 seconds. ×2 + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780497296.53122449 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780497297.14191842 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Accepted new action goal
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	34 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 14:34:54.492] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780497295.87432885 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780497296.45106912 seconds. ×2 + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.39sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780497296.53122449 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780497297.14191842 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 14:34:57.256] [info] Accepted new action goal + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.39sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 14:35:00.603] [info] Accepted new action goal
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
− skipped	Force Relaxation	force_relaxation.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	2 errors · 26 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-03 14:35:05.273] [info] Accepted new action goal + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780497307.60692787 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780497308.22595739 seconds. ×2 + 3.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.05sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.41sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 14:35:09.364] [info] Accepted new action goal
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	2 errors · 32 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00203518 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.19sINFOros2_control_node[2026-06-03 14:35:28.438] [info] Received new action goal + 0.19sINFOros2_control_node[2026-06-03 14:35:28.438] [info] Accepted new action goal + 0.63sINFOros2_control_node[2026-06-03 14:35:28.880] [info] Received new action goal + 0.63sINFOros2_control_node[2026-06-03 14:35:28.880] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-03 14:35:29.523] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-03 14:35:29.523] [info] Canceling active goal... + 1.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780497329.54757190 seconds ×2 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.91sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780497330.16667223 seconds. ×2 + 2.05sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.05sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.05sINFOfoxglove_bridgeRemoving channel 65 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.05sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.07sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 2.09sINFOros2_control_node[2026-06-03 14:35:30.342] [info] Received new action goal + 2.09sINFOros2_control_node[2026-06-03 14:35:30.342] [info] Accepted new action goal + 4.42sINFOros2_control_node[2026-06-03 14:35:32.676] [info] Received new action goal + 4.42sINFOros2_control_node[2026-06-03 14:35:32.676] [info] Accepted new action goal
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	33 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780497341.23127127 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780497341.86968136 seconds. ×2 + 0.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780497341.94000840 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780497342.49161029 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 1.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.38sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Received new action goal + 1.38sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780497344.62274742 seconds ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780497345.16877675 seconds. ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 4.05sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Received new action goal + 4.05sINFOros2_control_node[2026-06-03 14:35:45.281] [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: 1780497341.86968136 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: 1780497341.94000840 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780497342.49161029 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780497344.62274742 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780497345.16877675 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.41sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Accepted new action goal + 3.54sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 3.54sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	31 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780497341.86968136 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: 1780497341.94000840 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780497342.49161029 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 14:35:42.614] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780497344.62274742 seconds ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780497345.16877675 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 3.41sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Received new action goal + 3.41sINFOros2_control_node[2026-06-03 14:35:45.281] [info] Accepted new action goal + 3.54sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view" + 3.54sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/moveit_pro_ui/switch_primary_view"[0m
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	52 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780497352.18794847 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780497352.77591896 seconds. ×2 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239553083 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239582404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:35:53.713069710 [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 14:35:53.713101131 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.808424906 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810615478 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810636019 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 14:35:54.085010704 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100818703 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100854634 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.78sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780497354.96447444 seconds ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780497355.68484282 seconds. ×2 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.58sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.59sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Accepted new action goal + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Received new action goal + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Accepted new action goal
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	52 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780497352.18794847 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780497352.77591896 seconds. ×2 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239553083 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239582404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:35:53.713069710 [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 14:35:53.713101131 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.808424906 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810615478 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810636019 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 14:35:54.085010704 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100818703 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100854634 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.78sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780497354.96447444 seconds ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780497355.68484282 seconds. ×2 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.58sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.59sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Accepted new action goal + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Received new action goal + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Accepted new action goal
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	52 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780497352.18794847 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780497352.77591896 seconds. ×2 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239553083 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239582404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:35:53.713069710 [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 14:35:53.713101131 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.808424906 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810615478 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810636019 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 14:35:54.085010704 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100818703 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100854634 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.78sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780497354.96447444 seconds ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780497355.68484282 seconds. ×2 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.58sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.59sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Accepted new action goal + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Received new action goal + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Accepted new action goal
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	52 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780497352.18794847 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780497352.77591896 seconds. ×2 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239553083 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239582404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:35:53.713069710 [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 14:35:53.713101131 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.808424906 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810615478 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810636019 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 14:35:54.085010704 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100818703 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100854634 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.78sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780497354.96447444 seconds ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780497355.68484282 seconds. ×2 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.58sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.59sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Accepted new action goal + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Received new action goal + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Accepted new action goal
− skipped	Move Along Square	move_along_square.xml	0.0s	52 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780497352.18794847 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 0.29sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780497352.77591896 seconds. ×2 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239553083 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-03 14:35:53.239582404 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.30sINFOfoxglove_bridgeRemoving channel 66 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.53sINFOobjective_server_node[0;93m2026-06-03 14:35:53.713069710 [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 14:35:53.713101131 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.808424906 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810615478 [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 + 1.62sINFOobjective_server_node[0;93m2026-06-03 14:35:53.810636019 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.90sINFOobjective_server_node[0;93m2026-06-03 14:35:54.085010704 [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 + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100818703 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.91sINFOobjective_server_node[0;93m2026-06-03 14:35:54.100854634 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.78sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780497354.96447444 seconds ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/masks_visualization"[0m + 3.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780497355.68484282 seconds. ×2 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.58sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.59sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution" + 3.82sINFOfoxglove_bridgeRemoving channel 68 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.82sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/solution"[0m + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-03 14:35:56.070] [info] Accepted new action goal + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Received new action goal + 6.73sINFOros2_control_node[2026-06-03 14:35:58.918] [info] Accepted new action goal
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	19 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780497408.71447825 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780497409.28338051 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X___X] + 0.72sINFOros2_control_node[2026-06-03 14:36:49.437] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 14:36:49.437] [info] Accepted new action goal + 0.74sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m + 1.99sINFOobjective_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 + 2.00sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	4 errors · 947 info
+ 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×218 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×220 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×218 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×219 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×29 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×29 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780497471.30757403 seconds ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.368320) + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.378319) + 3.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.368320)[0m + 3.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780497453.358319) that ends in the past (1780497471.378319)[0m + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780497471.90437889 seconds. ×2 + 3.73sINFOobjective_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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.82sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.82sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view" + 3.82sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.83sINFOros2_control_node[2026-06-03 14:37:52.078] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-03 14:37:52.078] [info] Accepted new action goal
− skipped	Octomap Example	octomap_example.xml	0.0s	2 errors · 20 info
+ 0.00sINFOobjective_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 + 0.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 0.93sERRORobjective_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 + 0.93sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780497485.50322604 seconds ×2 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.95sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.54sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780497486.10989141 seconds. ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.60sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.60sINFOfoxglove_bridgeRemoving channel 71 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.61sINFOobjective_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 + 2.70sINFOobjective_server_nodeFound path in 7 iterations (0.00553897 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.77sINFOros2_control_node[2026-06-03 14:38:07.334] [info] Received new action goal + 2.77sINFOros2_control_node[2026-06-03 14:38:07.334] [info] Accepted new action goal
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	22 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780497515.80241704 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780497516.48815322 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X______X] + 1.93sINFOros2_control_node[2026-06-03 14:38:36.724] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:38:36.724] [info] Accepted new action goal + 2.14sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.14sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.14sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	22 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780497515.80241704 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780497516.48815322 seconds. ×2 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 1.90sINFOobjective_server_nodePath shortcutter: [X______X] + 1.93sINFOros2_control_node[2026-06-03 14:38:36.724] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:38:36.724] [info] Accepted new action goal + 2.14sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.14sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.14sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.14sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.14sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick object	pick_object.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	2 errors · 26 info
+ 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 14:38:43.945] [info] Accepted new action goal + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 14:38:45.711] [info] Accepted new action goal + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Got request to cancel active goal. + 2.68sINFOros2_control_node[2026-06-03 14:38:46.628] [info] Canceling active goal... + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780497526.64235353 seconds ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780497527.24925113 seconds. ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Received new action goal + 3.47sINFOros2_control_node[2026-06-03 14:38:47.408] [info] Accepted new action goal + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.58sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.58sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.38sINFOobjective_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: 1780497537.52950692 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780497538.07512236 seconds. ×2 + 0.57sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.57sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.78sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.78sINFOros2_control_node[2026-06-03 14:38:58.312] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-03 14:38:58.312] [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: 1780497547.90549731 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780497548.46912980 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.69sINFOros2_control_node[2026-06-03 14:39:08.589] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-03 14:39:08.589] [info] Accepted new action goal + 0.78sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.78sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	2 errors · 31 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780497558.62930489 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780497559.25380158 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780497559.33403802 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780497559.88024116 seconds. ×2 + 1.27sINFOobjective_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 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780497559.90227914 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780497560.46850491 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [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: 1780497558.62930489 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780497559.25380158 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780497559.33403802 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780497559.88024116 seconds. ×2 + 1.27sINFOobjective_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 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780497559.90227914 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780497560.46850491 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [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: 1780497558.62930489 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780497559.25380158 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780497559.33403802 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780497559.88024116 seconds. ×2 + 1.27sINFOobjective_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 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780497559.90227914 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780497560.46850491 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [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: 1780497558.62930489 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780497559.25380158 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780497559.33403802 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780497559.88024116 seconds. ×2 + 1.27sINFOobjective_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 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780497559.90227914 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780497560.46850491 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [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: 1780497558.62930489 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780497559.25380158 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780497559.33403802 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780497559.88024116 seconds. ×2 + 1.27sINFOobjective_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 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780497559.90227914 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780497560.46850491 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [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: 1780497558.62930489 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780497559.25380158 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780497559.33403802 seconds ×2 + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780497559.88024116 seconds. ×2 + 1.27sINFOobjective_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 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780497559.90227914 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780497560.46850491 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-03 14:39:20.561] [info] Accepted new action goal
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	2 errors · 2 warnings · 36 info
+ 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Got request to cancel active goal. + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780497570.53284287 seconds ×2 + 0.00sINFOros2_control_node[2026-06-03 14:39:30.529] [info] Canceling active goal... + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780497571.16004348 seconds. ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.84sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780497572.25017619 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780497572.79841447 seconds. ×2 + 2.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.27sINFOobjective_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 + 2.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780497572.80010676 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.34sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.34sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.35sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780497573.34456253 seconds. ×2 + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780497573.34491944 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.85sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780497573.89079928 seconds. ×2

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

14 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	segment_image_from_point_subtree.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	segment_image_from_point_subtree.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal

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

20 skip

− skipped	—	execute_mtc_solution.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	execute_mtc_solution.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	interpolate_to_joint_state.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	interpolate_to_joint_state.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	move_to_joint_state.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	move_to_joint_state.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [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	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [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	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [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	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	move_to_waypoint_jtc.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	move_to_waypoint_jtc.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	record_teleop_trajectory.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	record_teleop_trajectory.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal
− skipped	—	track_moving_frame.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	track_moving_frame.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal

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

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− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	14 info
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	48 info
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780497248.13285995 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: 1780497249.14299655 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780497249.68533492 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780497249.69545269 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780497250.24223018 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780497250.39281821 seconds ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780497251.04330230 seconds. ×2 + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780497251.09342122 seconds ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780497251.64440489 seconds. ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.508e-05 s). + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 14:34:11.769] [info] Accepted new action goal + 5.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3170). Below 1% is expected on a non-realtime system.[0m + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 14:34:14.273] [info] Accepted new action goal