185
Total objective tests
35
Objectives passed
29
Objectives failed
121
Objectives skipped
8.1s
Avg test time
55%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives23 fail13 skip
| ! error | Take Wrist Camera Snapshot | wrist_snap.xml | 17.4s | 50 errors · 143 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×39 + 8.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 14.23sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.23sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] + 14.24sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.25sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.25sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.25sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.25sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.25sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.25sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] + 14.26sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.26sERRORros2 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' + 14.27sERRORros2 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' + 14.27sERRORros2 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' + 14.27sERRORros2 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' + 14.27sERRORros2 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' + 14.27sERRORros2 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' + 14.27sERRORros2 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' + 14.27sERRORros2 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' + 14.27sERRORros2 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' + 14.28sERRORros2 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' + 14.28sERRORros2 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' + 14.28sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.28sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.28sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.28sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.28sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.28sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.29sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 14.29sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] + 14.30sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] + 14.31sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] + 14.32sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 14.32sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] + 14.33sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] + 14.35sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] + 14.36sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] + 14.37sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] + 14.39sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] + 14.40sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.40sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] + 14.42sINFOros2 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] + 14.43sINFOros2 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] + 14.44sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 24398, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. + 14.44sINFOros2 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] + 14.45sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 24394, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. + 14.46sINFOros2 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] + 14.47sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 24391, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. + 14.47sINFOros2 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] + 14.48sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 24386, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 14.48sINFOros2 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] + 14.49sINFOweb_video_server-31process has finished cleanly [pid 24510] + 14.49sINFOtf2_web_republisher_node-30process has finished cleanly [pid 24508] + 14.49sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 24383, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. + 14.49sINFOros2 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] + 14.51sINFOros2 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] + 14.51sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 24381, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. + 14.52sINFOros2 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] + 14.52sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 24379, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. + 14.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10] + 14.53sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 24377, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. + 14.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9sending signal 'SIGTERM' to process[ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9] + 14.54sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 24307, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. + 14.54sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 24305, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. + 14.55sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] + 14.55sERRORui_teleop_bridge-28process has died [pid 24481, 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_cwhbj4jb']. + 14.55sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 24303, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 14.56sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] + 14.57sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] + 14.57sINFOexecute_objective_bridge-27process has finished cleanly [pid 24457] + 14.58sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] + 14.58sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 24419] + 14.60sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] + 14.60sINFOmove_joint_resampler_node-23process has finished cleanly [pid 24408] + 14.61sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] + 14.62sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] + 14.62sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 14.62sINFOwaypoint_manager_node-22process has finished cleanly [pid 24406] + 14.62sINFOparameter_manager_node-21process has finished cleanly [pid 24404] + 14.62sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 14.62sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 14.62sERRORui_teleop_bridgeTraceback (most recent call last): + 14.62sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 14.62sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 14.62sINFOui_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 + 14.62sINFOui_teleop_bridgerclpy.shutdown() + 14.62sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 14.62sINFOui_teleop_bridge_shutdown(context=context) + 14.62sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 14.62sINFOui_teleop_bridgereturn context.shutdown() + 14.62sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 14.62sINFOui_teleop_bridgeself.__context.shutdown() + 14.62sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 14.62sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m + 14.62sINFOcomponent_container_mtStopping planning scene monitor[0m + 14.62sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.62sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.63sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.63sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.63sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m + 14.63sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m + 14.63sINFOobjective_server_node[2026-06-03 15:02:15.906] [moveit_pro_license] [info] + 14.63sINFOobjective_server_node************************************************* ×2 + 14.63sINFOobjective_server_node* MoveIt Pro License + 14.63sINFOobjective_server_node* Application has successfully terminated + 14.63sINFOmove_groupDeleting MoveItCpp[0m + 14.63sINFOmove_groupStopped publishing maintained planning scene.[0m + 14.63sINFOmove_groupStopping world geometry monitor[0m + 14.63sINFOmove_groupStopping planning scene monitor[0m + 14.63sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system + 14.63sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 + 14.64sERRORodom_qos_relay.pyTraceback (most recent call last): + 14.64sINFOodom_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> + 14.64sINFOodom_qos_relay.pymain() + 14.64sINFOodom_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 + 14.64sINFOodom_qos_relay.pyrclpy.spin(node) + 14.64sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin + 14.64sINFOodom_qos_relay.pyexecutor.spin_once() + 14.64sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once + 14.64sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) + 14.64sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl + 14.64sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) + 14.64sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks + 14.64sINFOodom_qos_relay.pyreturn next(self._cb_iter) + 14.64sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks + 14.64sINFOodom_qos_relay.pyraise ExternalShutdownException() + 14.64sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException + 14.64sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 + 14.64sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 14.66sINFOcomponent_container_mt-26process has finished cleanly [pid 24423] + 14.67sINFOobjective_server_node_main-25process has finished cleanly [pid 24421] + 14.67sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system + 14.73sINFOmove_group-20process has finished cleanly [pid 24400] + 14.74sINFOfoxglove_bridgeShutdown complete[0m + 14.77sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 24299] + 14.78sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 24297] + 14.80sINFOstatic_transform_publisher-4process has finished cleanly [pid 24293] + 14.81sINFOstatic_transform_publisher-3process has finished cleanly [pid 24291] + 14.83sINFOstatic_transform_publisher-2process has finished cleanly [pid 24289] + 14.83sERRORodom_qos_relay.py-5process has died [pid 24295, 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']. + 15.86sINFOfoxglove_bridge-29process has finished cleanly [pid 24496] + 15.86sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system + 19.23sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' + 19.24sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] + 19.25sERRORcomponent_container_isolated-1process has died [pid 24287, 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_hwij1wg2 --params-file /tmp/launch_params_qp_iw7im -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. | ||||
| ! error | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Find and Spray Plane | find_and_spray_plane.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Move to Look at Plane | move_to_look_at_plane.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Plan Path Along Surface | plan_path_along_surface.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Solution - 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 - Move Forward 2m | solution_move_forward_2m.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Solution - Spray Plane | solution_spray_plane.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | Take Scene Camera Snapshot | take_snap.xml | 5.0s | 24 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×24 | ||||
| ! error | 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 | 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 | 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 - 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 | ||||
| − 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 + 0.06sINFOmove_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 + 0.07sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_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 + 0.15sINFOmove_group ×4 + 0.15sINFOmove_group******************************************************** ×2 + 0.15sINFOmove_group* MoveGroup using: + 0.15sINFOmove_group* - apply_planning_scene_service + 0.15sINFOmove_group* - clear_octomap_service + 0.15sINFOmove_group* - ExecuteTaskSolution + 0.15sINFOmove_group* - get_group_urdf + 0.15sINFOmove_group* - load_geometry_from_file + 0.15sINFOmove_group* - get_planning_scene_service + 0.15sINFOmove_group* - kinematics_service + 0.15sINFOmove_group* - save_geometry_to_file + 0.15sINFOmove_group* - GetPlanningGroups + 0.15sINFOmove_group* - SetActiveControllerService + 0.15sINFOmove_group* - URDFPlanningSceneCapability + 0.15sINFOmove_group[0m + 0.15sINFOmove_group[92mYou can start planning now![0m + 0.16sINFOlocal_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 + 1.20sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.33sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.47sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.51sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.66sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.68sFATALspawner_force_torque_sensor_broadcasterCould 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 + 0.06sINFOmove_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 + 0.07sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_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 + 0.15sINFOmove_group ×4 + 0.15sINFOmove_group******************************************************** ×2 + 0.15sINFOmove_group* MoveGroup using: + 0.15sINFOmove_group* - apply_planning_scene_service + 0.15sINFOmove_group* - clear_octomap_service + 0.15sINFOmove_group* - ExecuteTaskSolution + 0.15sINFOmove_group* - get_group_urdf + 0.15sINFOmove_group* - load_geometry_from_file + 0.15sINFOmove_group* - get_planning_scene_service + 0.15sINFOmove_group* - kinematics_service + 0.15sINFOmove_group* - save_geometry_to_file + 0.15sINFOmove_group* - GetPlanningGroups + 0.15sINFOmove_group* - SetActiveControllerService + 0.15sINFOmove_group* - URDFPlanningSceneCapability + 0.15sINFOmove_group[0m + 0.15sINFOmove_group[92mYou can start planning now![0m + 0.16sINFOlocal_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 + 1.20sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.33sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.47sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.51sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.66sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.68sFATALspawner_force_torque_sensor_broadcasterCould 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 + 0.06sINFOmove_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 + 0.07sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_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 + 0.15sINFOmove_group ×4 + 0.15sINFOmove_group******************************************************** ×2 + 0.15sINFOmove_group* MoveGroup using: + 0.15sINFOmove_group* - apply_planning_scene_service + 0.15sINFOmove_group* - clear_octomap_service + 0.15sINFOmove_group* - ExecuteTaskSolution + 0.15sINFOmove_group* - get_group_urdf + 0.15sINFOmove_group* - load_geometry_from_file + 0.15sINFOmove_group* - get_planning_scene_service + 0.15sINFOmove_group* - kinematics_service + 0.15sINFOmove_group* - save_geometry_to_file + 0.15sINFOmove_group* - GetPlanningGroups + 0.15sINFOmove_group* - SetActiveControllerService + 0.15sINFOmove_group* - URDFPlanningSceneCapability + 0.15sINFOmove_group[0m + 0.15sINFOmove_group[92mYou can start planning now![0m + 0.16sINFOlocal_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 + 1.20sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.33sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.47sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.51sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.66sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.68sFATALspawner_force_torque_sensor_broadcasterCould 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/core4 fail3 pass13 skip
| ! error | — | clear_snapshot.xml | 18.9s | 81 errors · 27 warnings · 3121 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/2026-06-03-14-56-36-336918-30a9c513818e-23470 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 7.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 7.47sINFOros2_control_node-8process started with pid [23516] + 7.47sINFOmove_group-20process started with pid [23610] + 7.47sINFOparameter_manager_node-21process started with pid [23613] + 7.47sINFOwaypoint_manager_node-22process started with pid [23616] + 7.47sINFOmove_joint_resampler_node-23process started with pid [23619] + 7.47sINFOmove_end_effector_resampler_node-24process started with pid [23622] + 7.47sINFOobjective_server_node_main-25process started with pid [23624] + 7.47sINFOcomponent_container_mt-26process started with pid [23626] + 7.47sINFOexecute_objective_bridge-27process started with pid [23654] + 7.47sINFOui_teleop_bridge-28process started with pid [23701] + 7.47sINFOfoxglove_bridge-29process started with pid [23712] + 7.47sINFOtf2_web_republisher_node-30process started with pid [23714] + 7.47sINFOweb_video_server-31process started with pid [23716] + 7.49sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 7.49sINFOcomponent_container_isolated-1process started with pid [23502] + 7.49sINFOstatic_transform_publisher-2process started with pid [23504] + 7.49sINFOstatic_transform_publisher-3process started with pid [23506] + 7.49sINFOstatic_transform_publisher-4process started with pid [23508] + 7.49sINFOodom_qos_relay.py-5process started with pid [23510] + 7.49sINFOscan_to_scan_filter_chain-6process started with pid [23512] + 7.49sINFOscan_to_scan_filter_chain-7process started with pid [23514] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [23518] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [23520] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [23522] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [23590] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [23592] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [23594] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [23596] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [23599] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [23602] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [23605] + 7.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [23607] + 7.59sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 7.59sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 7.59sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 7.59sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 7.59sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 7.59sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 7.59sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 7.59sWARNros2_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 + 7.59sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 7.59sINFOcomponent_container_mtLoad Library: /opt/ros/humble/lib/librobot_state_publisher_node.so[0m ×2 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 7.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 7.60sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 7.65sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m ×2 + 7.65sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 7.66sINFOcomponent_container_mtgot segment axle_link[0m ×2 + 7.66sINFOcomponent_container_mtgot segment base[0m ×2 + 7.66sINFOcomponent_container_mtgot segment base_link[0m ×2 + 7.66sINFOcomponent_container_mtgot segment base_link_inertia[0m ×2 + 7.66sINFOcomponent_container_mtgot segment chassis_link[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_001[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_002[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_002_001[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_004[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_005[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_006[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_007[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_008[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_009[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_010[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_011[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_012[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_013[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_014[0m ×2 + 7.67sINFOcomponent_container_mtgot segment collision_Cube_015[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_001[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_002[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_003[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_004[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_005[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_006[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_007[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_008[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_009[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_010[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_011[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_Plane_012[0m ×2 + 7.68sINFOcomponent_container_mtgot segment collision_SM_Box_A7_73[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Box_A8[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Box_C7_77[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Floor_376[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Pillar2_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Pillar3_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Pillar4_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Pillar5_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Pillar6_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Pillar7_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Pillar8_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Pillar_10_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Room_426_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Room_426_002[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Room_426_003[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_Room_426_004[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_WallBack_396_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_WallBack_396_002[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_WallFront_382_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_WallFront_382_002[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_WallSide16_002[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_SM_WallSide4_001[0m ×2 + 7.69sINFOcomponent_container_mtgot segment collision_supports[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_001[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_002[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_003[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_004[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_005[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_006[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_007[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_008[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_009[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_010[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_011[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_012[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_013[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_014[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_supports_015[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_vacuum_base[0m ×2 + 7.70sINFOcomponent_container_mtgot segment collision_vacuum_suction_cups[0m ×2 + 7.70sINFOcomponent_container_mtgot segment flange[0m ×2 + 7.70sINFOcomponent_container_mtgot segment forearm_link[0m ×2 + 7.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 7.72sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 7.72sINFOcomponent_container_mtgot segment forearm_pinch_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment front_cover_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment front_left_wheel_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment front_lights_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment front_right_wheel_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment front_rocker_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment ft_frame[0m ×2 + 7.72sINFOcomponent_container_mtgot segment grasp_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment ham_assem_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment imu_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment left_side_cover_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment mid_mount[0m ×2 + 7.72sINFOcomponent_container_mtgot segment rear_cover_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment rear_left_wheel_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment rear_lights_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment rear_right_wheel_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment rear_rocker_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment ridgeback_base_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment right_side_cover_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment riser_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment shoulder_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment tool0[0m ×2 + 7.72sINFOcomponent_container_mtgot segment top_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment upper_arm_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment ur_mount_point[0m ×2 + 7.72sINFOcomponent_container_mtgot segment vacuum_base[0m ×2 + 7.72sINFOcomponent_container_mtgot segment virtual_rail_link_1[0m ×2 + 7.72sINFOcomponent_container_mtgot segment virtual_rail_link_2[0m ×2 + 7.72sINFOcomponent_container_mtgot segment visual_mesh[0m ×2 + 7.72sINFOcomponent_container_mtgot segment world[0m ×2 + 7.72sINFOcomponent_container_mtgot segment wrist_1_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment wrist_2_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment wrist_3_link[0m ×2 + 7.72sINFOcomponent_container_mtgot segment wrist_3_pinch_link[0m ×2 + 7.72sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 7.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 7.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 7.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 7.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 7.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 7.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 7.92sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 7.95sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 7.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 7.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 7.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 7.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 7.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 7.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 7.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 7.96sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 8.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 8.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 8.10sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 8.10sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 8.10sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 8.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 8.15sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 8.16sINFOmove_groupLoaded robot model in 0.682216 seconds[0m + 8.16sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 8.16sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.16sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 8.16sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 8.16sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 8.23sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 8.24sINFOwaypoint_manager_nodeLoaded robot model in 0.506661 seconds[0m + 8.24sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 8.24sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 8.26sWARNscan_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 + 8.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 8.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 8.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 8.63sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 8.63sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 8.63sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 8.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.77sERRORros2_control_nodeXML Error: Schema violation: unrecognized element ×2 + 8.77sINFOros2_control_nodeElement 'option', line 0 ×2 + 8.77sINFOros2_control_node[0m ×2 + 8.78sINFOros2_control_nodeFailed to initialize hardware 'ur_mujoco_control'[0m ×2 + 8.78sWARNros2_control_nodeSystem hardware component 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' failed to initialize.[0m ×2 + 8.78sERRORros2_control_nodeterminate called after throwing an instance of 'std::runtime_error' ×2 + 8.78sERRORros2_control_nodewhat(): Wrong state or command interface configuration. ×2 + 8.78sINFOros2_control_nodemissing state interfaces: ×2 + 8.78sINFOros2_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 + 8.78sINFOros2_control_nodemissing command interfaces: ×2 + 8.78sINFOros2_control_node ×2 + 8.78sERRORros2_control_nodeStack trace (most recent call last): ×2 + 8.81sINFOros2_control_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 8.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.81sINFOros2_control_node#14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x558ec7627ec4, in + 8.81sINFOros2_control_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7831c8be3f, in __libc_start_main + 8.82sINFOros2_control_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7831c8bd8f, in + 8.82sINFOros2_control_node#11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x558ec762736f, in + 8.82sINFOros2_control_node#10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f78323a848a, 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&) + 8.82sINFOros2_control_node#9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f78323a343f, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) + 8.82sINFOros2_control_node#8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f7831b5a334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) + 8.82sINFOros2_control_node#7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f7831b36723, in + 8.82sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f7831f5b4d7, in __cxa_throw + 8.82sINFOros2_control_node#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f7831f5b276, in std::terminate() + 8.82sINFOros2_control_node#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f7831f5b20b, in + 8.82sINFOros2_control_node#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f7831f4fb9d, in + 8.82sINFOros2_control_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7831c8a7f2, in abort + 8.82sINFOros2_control_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7831ca4475, in raise + 8.82sINFOros2_control_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7831cf89fc, in pthread_kill + 8.82sERRORros2_control_nodeAborted (Signal sent by tkill() 23516 0) + 8.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.91sERRORros2_control_node-8process has died [pid 23516, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_mc49j4t6 --params-file /tmp/launch_params_df7mw474 --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_3mn0gurg --params-file /tmp/launch_params_5r87kdb7']. + 8.94sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/waypoint_follower/transition_event"[0m + 8.94sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/transformed_global_plan"[0m + 8.96sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.97sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/trajectories"[0m + 8.98sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/tf"[0m + 8.98sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/scan_rear_filtered"[0m + 8.98sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/smoother_server/transition_event"[0m + 8.98sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/scan_rear"[0m + 8.98sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/scan_front_filtered"[0m + 8.98sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m + 8.98sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/plan"[0m + 8.98sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/scan_front"[0m + 8.98sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planner_server/transition_event"[0m + 8.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.99sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/odom"[0m + 8.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 8.99sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/objective_server_heartbeat"[0m + 9.00sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/store_joint_state"[0m + 9.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.00sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/move_joint"[0m + 9.00sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/tf_static"[0m + 9.00sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/moveit_pro_ui/move_end_effector"[0m + 9.01sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 9.01sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 9.01sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 9.01sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/robot_description"[0m + 9.01sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 9.01sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/map_server/transition_event"[0m + 9.02sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/local_costmap/published_footprint"[0m + 9.02sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/plan_smoothed"[0m + 9.02sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/local_costmap/costmap_raw"[0m + 9.02sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robot_description_semantic"[0m + 9.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.03sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/local_costmap/costmap"[0m + 9.03sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_states"[0m + 9.03sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/imu_sensor_broadcaster/imu_reliable"[0m + 9.03sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/imu_sensor_broadcaster/imu"[0m + 9.03sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/local_costmap/local_costmap/transition_event"[0m + 9.03sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/global_costmap/published_footprint"[0m + 9.03sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/local_costmap/footprint"[0m + 9.03sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/global_costmap/global_costmap/transition_event"[0m + 9.03sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/global_costmap/footprint"[0m + 9.04sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/global_costmap/costmap_updates"[0m + 9.04sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/global_costmap/costmap_raw"[0m + 9.04sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/global_costmap/costmap"[0m + 9.04sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/diagnostics"[0m + 9.04sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/cmd_vel_nav"[0m + 9.04sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/cmd_vel"[0m + 9.04sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/odom_reliable"[0m + 9.04sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/local_costmap/costmap_updates"[0m + 9.05sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/bond"[0m + 9.05sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/velocity_smoother/transition_event"[0m + 9.05sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/map"[0m + 9.05sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/controller_server/transition_event"[0m + 9.05sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/behavior_server/transition_event"[0m + 9.05sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/bt_navigator/transition_event"[0m + 9.05sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/agent_interface/move_joint"[0m + 9.05sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/speed_limit"[0m + 9.05sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_interface/move_end_effector"[0m + 9.27sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 9.27sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 9.28sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 9.30sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 9.31sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 9.31sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 9.31sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 9.31sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 9.31sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 9.31sINFOmove_groupStarting planning scene monitor[0m ×2 + 9.31sINFOmove_groupListening to '/planning_scene'[0m ×2 + 9.31sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 9.31sINFOmove_groupListening to 'collision_object'[0m ×2 + 9.31sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 9.92sINFOobjective_server_node[2026-06-03 14:56:48.580] [moveit_pro_license] [info] + 9.92sINFOobjective_server_node************************************************* ×6 + 9.92sINFOobjective_server_node* MoveIt Pro License ×3 + 9.92sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 10.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 10.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 10.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 10.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 10.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 10.17sWARNcomponent_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 0.278516 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 + 10.28sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/statistics"[0m + 10.31sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/planning_scene"[0m + 10.31sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/monitored_planning_scene"[0m + 10.31sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preempt_teleop"[0m + 10.32sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/planning_scene_world"[0m + 10.32sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/failure_reason_collector"[0m + 10.32sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/description"[0m + 10.32sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/collision_object"[0m + 10.32sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/cmd_vel_teleop"[0m + 10.33sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/attached_collision_object"[0m + 10.33sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/goal_pose"[0m + 10.43sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.47sINFOobjective_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 + 10.47sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 10.48sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 10.48sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 10.48sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 10.48sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 10.48sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 10.48sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 10.48sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 10.77sINFOobjective_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 + 10.77sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 10.94sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/visual_markers"[0m + 10.95sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/blackboard_contents"[0m + 10.95sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/behavior_tree_status"[0m + 11.31sWARNobjective_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 + 11.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.71sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×6 + 12.25sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.25sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 12.25sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.27sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 12.27sINFOcomponent_container_mtLoaded robot model in 2.08543 seconds[0m + 12.27sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.27sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.72sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.72sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 13.03sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 13.71sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.71sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.71sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event"[0m ×2 + 13.71sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.74sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.74sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.77sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.79sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.82sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.84sINFOmove_group ×8 + 13.84sINFOmove_group******************************************************** ×4 + 13.84sINFOmove_group* MoveGroup using: ×2 + 13.84sINFOmove_group* - apply_planning_scene_service ×2 + 13.84sINFOmove_group* - clear_octomap_service ×2 + 13.84sINFOmove_group* - ExecuteTaskSolution ×2 + 13.84sINFOmove_group* - get_group_urdf ×2 + 13.84sINFOmove_group* - load_geometry_from_file ×2 + 13.84sINFOmove_group* - get_planning_scene_service ×2 + 13.84sINFOmove_group* - kinematics_service ×2 + 13.84sINFOmove_group* - save_geometry_to_file ×2 + 13.84sINFOmove_group* - GetPlanningGroups ×2 + 13.84sINFOmove_group* - SetActiveControllerService ×2 + 13.84sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.84sINFOmove_group[0m ×2 + 13.85sINFOmove_group[92mYou can start planning now![0m ×2 +157.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +162.99sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +162.99sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORfoxglove_bridge-29process[foxglove_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.00sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +163.01sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.01sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.02sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.02sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.02sERRORros2 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' +163.02sERRORros2 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' +163.02sERRORros2 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' +163.02sERRORros2 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' +163.02sERRORros2 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' +163.02sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +163.04sERRORros2 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' +163.04sERRORros2 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' +163.04sERRORros2 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' +163.04sERRORros2 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' +163.04sERRORros2 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' +163.04sERRORros2 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' +163.04sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +163.05sINFOfoxglove_bridge-29sending signal 'SIGTERM' to process[foxglove_bridge-29] +163.06sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +163.07sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +163.09sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +163.10sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +163.11sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +163.12sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +163.13sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +163.14sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +163.16sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +163.17sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +163.19sINFOros2 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] +163.20sINFOros2 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] +163.21sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has died [pid 23607, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. +163.22sINFOros2 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] +163.22sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has died [pid 23605, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. +163.23sINFOros2 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] +163.23sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has died [pid 23602, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. +163.24sINFOros2 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] +163.25sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has died [pid 23599, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. +163.25sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +163.25sINFOweb_video_server-31process has finished cleanly [pid 23716] +163.25sINFOros2 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] +163.26sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has died [pid 23596, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. +163.26sINFOtf2_web_republisher_node-30process has finished cleanly [pid 23714] +163.26sINFOros2 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] +163.28sINFOros2 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] +163.28sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has died [pid 23594, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. +163.29sINFOros2 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] +163.29sERRORros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has died [pid 23592, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper']. +163.30sINFOros2 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] +163.30sERRORros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has died [pid 23590, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. +163.31sINFOros2 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] +163.31sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has died [pid 23522, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. +163.31sERRORros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has died [pid 23520, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. +163.31sERRORui_teleop_bridge-28process has died [pid 23701, 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_7ihkmprr']. +163.32sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +163.32sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has died [pid 23518, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. +163.33sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +163.35sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +163.35sINFOexecute_objective_bridge-27process has finished cleanly [pid 23654] +163.35sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 23622] +163.36sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +163.37sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +163.37sINFOmove_joint_resampler_node-23process has finished cleanly [pid 23619] +163.37sINFOobjective_server_node_main-25process has finished cleanly [pid 23624] +163.38sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +163.40sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +163.40sINFOwaypoint_manager_node-22process has finished cleanly [pid 23616] +163.40sINFOparameter_manager_node-21process has finished cleanly [pid 23613] +163.40sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +163.40sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +163.40sERRORui_teleop_bridgeTraceback (most recent call last): +163.40sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +163.40sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +163.40sINFOui_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 +163.40sINFOui_teleop_bridgerclpy.shutdown() +163.40sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +163.40sINFOui_teleop_bridge_shutdown(context=context) +163.40sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +163.40sINFOui_teleop_bridgereturn context.shutdown() +163.40sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +163.40sINFOui_teleop_bridgeself.__context.shutdown() +163.40sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +163.40sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +163.40sINFOcomponent_container_mtStopping planning scene monitor[0m +163.40sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +163.40sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +163.40sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +163.40sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +163.40sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +163.40sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +163.40sINFOobjective_server_node[2026-06-03 14:59:21.834] [moveit_pro_license] [info] +163.40sINFOobjective_server_node* Application has successfully terminated +163.40sINFOmove_groupDeleting MoveItCpp[0m +163.41sINFOmove_groupStopping world geometry monitor[0m +163.41sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +163.41sINFOmove_groupStopping planning scene monitor[0m +163.41sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +163.41sERRORodom_qos_relay.pyTraceback (most recent call last): +163.41sINFOodom_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> +163.41sINFOodom_qos_relay.pymain() +163.41sINFOodom_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 +163.42sINFOodom_qos_relay.pyrclpy.spin(node) +163.42sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin +163.42sINFOodom_qos_relay.pyexecutor.spin_once() +163.42sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once +163.42sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +163.42sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl +163.42sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) +163.42sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks +163.42sINFOodom_qos_relay.pyreturn next(self._cb_iter) +163.42sINFOodom_qos_relay.pyFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks +163.42sINFOodom_qos_relay.pyraise ExternalShutdownException() +163.42sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +163.42sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 +163.42sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +163.42sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +163.42sINFOcomponent_container_mt-26process has finished cleanly [pid 23626] +163.50sINFOmove_group-20process has finished cleanly [pid 23610] +163.51sINFOfoxglove_bridgeShutdown complete[0m +163.54sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 23514] +163.55sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 23512] +163.57sINFOstatic_transform_publisher-4process has finished cleanly [pid 23508] +163.59sINFOstatic_transform_publisher-3process has finished cleanly [pid 23506] +163.60sERRORodom_qos_relay.py-5process has died [pid 23510, 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']. +163.60sINFOstatic_transform_publisher-2process has finished cleanly [pid 23504] +164.63sINFOfoxglove_bridge-29process has finished cleanly [pid 23712] +164.63sINFOlaunchprocess[foxglove_bridge-29] was required: shutting down launched system +168.00sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +168.00sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +168.01sERRORcomponent_container_isolated-1process has died [pid 23502, 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_b0piybdw --params-file /tmp/launch_params__mcr6mew -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +173.85sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-03-14-59-30-217301-30a9c513818e-24255 +180.96sINFOstatic_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' +180.97sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' +180.98sINFOstatic_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' +180.99sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libcontroller_server_core.so +181.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +181.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +181.02sINFOcontroller_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. +181.05sINFOcontroller_serverCreating controller server +181.06sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.07sINFOlocal_costmap.local_costmapCreating Costmap +181.07sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libsmoother_server_core.so +181.07sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +181.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +181.08sINFOsmoother_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. +181.08sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +181.09sINFOsmoother_serverCreating smoother server +181.10sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libplanner_server_core.so +181.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +181.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +181.11sINFOplanner_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. +181.13sINFOplanner_serverCreating +181.16sINFOglobal_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. +181.16sINFOglobal_costmap.global_costmapCreating Costmap +181.17sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libmap_server_core.so +181.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +181.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +181.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +181.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +181.23sINFOmap_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. +181.23sINFOmap_serverCreating +181.30sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libbehavior_server_core.so +181.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +181.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +181.35sINFObehavior_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. +181.36sINFOros2_control_node-8process started with pid [24301] +181.36sINFOmove_group-20process started with pid [24400] +181.36sINFOparameter_manager_node-21process started with pid [24404] +181.36sINFOwaypoint_manager_node-22process started with pid [24406] +181.36sINFOmove_joint_resampler_node-23process started with pid [24408] +181.36sINFOmove_end_effector_resampler_node-24process started with pid [24419] +181.36sINFOobjective_server_node_main-25process started with pid [24421] +181.36sINFOcomponent_container_mt-26process started with pid [24423] +181.36sINFOexecute_objective_bridge-27process started with pid [24457] +181.36sINFOui_teleop_bridge-28process started with pid [24481] +181.36sINFOfoxglove_bridge-29process started with pid [24496] +181.36sINFOtf2_web_republisher_node-30process started with pid [24508] +181.36sINFOweb_video_server-31process started with pid [24510] +181.40sINFOcomponent_container_isolated-1process started with pid [24287] +181.40sINFOstatic_transform_publisher-2process started with pid [24289] +181.40sINFOstatic_transform_publisher-3process started with pid [24291] +181.40sINFOstatic_transform_publisher-4process started with pid [24293] +181.40sINFOodom_qos_relay.py-5process started with pid [24295] +181.40sINFOscan_to_scan_filter_chain-6process started with pid [24297] +181.40sINFOscan_to_scan_filter_chain-7process started with pid [24299] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [24303] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [24305] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [24307] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [24377] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [24379] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [24381] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [24383] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [24386] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [24391] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [24394] +181.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [24398] +181.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +181.42sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libnav2_lifecycle_manager_core.so +181.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +181.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +181.46sINFOlifecycle_manager_localizationCreating +181.46sINFOmoveit_studio_containerLoad Library: /opt/ros/humble/lib/librobot_state_publisher_node.so +181.48sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +181.48sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libbt_navigator_core.so +181.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +181.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +181.49sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +181.49sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +181.49sINFOmap_serverConfiguring +181.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +181.49sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +181.52sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +181.52sINFObt_navigatorCreating +181.54sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libwaypoint_follower_core.so +181.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +181.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +181.57sINFOwaypoint_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. +181.57sINFOwaypoint_followerCreating +181.59sINFOnav2_containerLoad Library: /opt/ros/humble/lib/libvelocity_smoother_core.so +181.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +181.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +181.61sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) +181.62sINFOfoxglove_bridgeServer listening on port 3201 +181.63sINFOvelocity_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. +181.64sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/smoother_server/transition_event" +181.64sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/smoother_server/transition_event"[0m +181.65sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout" +181.65sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout"[0m +181.67sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events" +181.67sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m +181.67sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/local_costmap/local_costmap/transition_event" +181.67sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/map_server/transition_event" +181.67sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/global_costmap/global_costmap/transition_event" +181.67sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/planner_server/transition_event" +181.67sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/local_costmap/local_costmap/transition_event"[0m +181.67sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_server/transition_event" +181.67sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/behavior_server/transition_event" +181.67sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/map_server/transition_event"[0m +181.67sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/global_costmap/global_costmap/transition_event"[0m +181.67sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/planner_server/transition_event"[0m +181.67sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_server/transition_event"[0m +181.67sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/behavior_server/transition_event"[0m +181.67sINFOlifecycle_manager_navigationCreating +181.68sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +181.69sINFOrobot_state_publishergot segment axle_link +181.69sINFOrobot_state_publishergot segment base +181.69sINFOrobot_state_publishergot segment base_link +181.69sINFOrobot_state_publishergot segment base_link_inertia +181.69sINFOrobot_state_publishergot segment chassis_link +181.69sINFOrobot_state_publishergot segment collision_Cube +181.69sINFOrobot_state_publishergot segment collision_Cube_001 +181.69sINFOrobot_state_publishergot segment collision_Cube_002 +181.69sINFOrobot_state_publishergot segment collision_Cube_002_001 +181.69sINFOrobot_state_publishergot segment collision_Cube_004 +181.69sINFOrobot_state_publishergot segment collision_Cube_005 +181.69sINFOrobot_state_publishergot segment collision_Cube_006 +181.69sINFOrobot_state_publishergot segment collision_Cube_007 +181.69sINFOrobot_state_publishergot segment collision_Cube_008 +181.69sINFOrobot_state_publishergot segment collision_Cube_009 +181.69sINFOrobot_state_publishergot segment collision_Cube_010 +181.69sINFOrobot_state_publishergot segment collision_Cube_011 +181.69sINFOrobot_state_publishergot segment collision_Cube_012 +181.69sINFOrobot_state_publishergot segment collision_Cube_013 +181.69sINFOrobot_state_publishergot segment collision_Cube_014 +181.69sINFOrobot_state_publishergot segment collision_Cube_015 +181.69sINFOrobot_state_publishergot segment collision_Plane +181.69sINFOrobot_state_publishergot segment collision_Plane_001 +181.69sINFOrobot_state_publishergot segment collision_Plane_002 +181.69sINFOrobot_state_publishergot segment collision_Plane_003 +181.69sINFOrobot_state_publishergot segment collision_Plane_004 +181.69sINFOrobot_state_publishergot segment collision_Plane_005 +181.69sINFOrobot_state_publishergot segment collision_Plane_006 +181.69sINFOrobot_state_publishergot segment collision_Plane_007 +181.69sINFOrobot_state_publishergot segment collision_Plane_008 +181.69sINFOrobot_state_publishergot segment collision_Plane_009 +181.69sINFOrobot_state_publishergot segment collision_Plane_010 +181.69sINFOrobot_state_publishergot segment collision_Plane_011 +181.69sINFOrobot_state_publishergot segment collision_Plane_012 +181.69sINFOrobot_state_publishergot segment collision_SM_Box_A7_73 +181.69sINFOrobot_state_publishergot segment collision_SM_Box_A8 +181.69sINFOrobot_state_publishergot segment collision_SM_Box_C7_77 +181.69sINFOrobot_state_publishergot segment collision_SM_Floor_376 +181.69sINFOrobot_state_publishergot segment collision_SM_Pillar2_001 +181.69sINFOrobot_state_publishergot segment collision_SM_Pillar3_001 +181.69sINFOrobot_state_publishergot segment collision_SM_Pillar4_001 +181.69sINFOrobot_state_publishergot segment collision_SM_Pillar5_001 +181.69sINFOrobot_state_publishergot segment collision_SM_Pillar6_001 +181.69sINFOrobot_state_publishergot segment collision_SM_Pillar7_001 +181.69sINFOrobot_state_publishergot segment collision_SM_Pillar8_001 +181.69sINFOrobot_state_publishergot segment collision_SM_Pillar_10_001 +181.69sINFOrobot_state_publishergot segment collision_SM_Room_426_001 +181.69sINFOrobot_state_publishergot segment collision_SM_Room_426_002 +181.69sINFOrobot_state_publishergot segment collision_SM_Room_426_003 +181.69sINFOrobot_state_publishergot segment collision_SM_Room_426_004 +181.69sINFOrobot_state_publishergot segment collision_SM_WallBack_396_001 +181.69sINFOrobot_state_publishergot segment collision_SM_WallBack_396_002 +181.69sINFOrobot_state_publishergot segment collision_SM_WallFront_382_001 +181.69sINFOrobot_state_publishergot segment collision_SM_WallFront_382_002 +181.69sINFOrobot_state_publishergot segment collision_SM_WallSide16_002 +181.69sINFOrobot_state_publishergot segment collision_SM_WallSide4_001 +181.69sINFOrobot_state_publishergot segment collision_supports +181.69sINFOrobot_state_publishergot segment collision_supports_001 +181.69sINFOrobot_state_publishergot segment collision_supports_002 +181.69sINFOrobot_state_publishergot segment collision_supports_003 +181.69sINFOrobot_state_publishergot segment collision_supports_004 +181.69sINFOrobot_state_publishergot segment collision_supports_005 +181.69sINFOrobot_state_publishergot segment collision_supports_006 +181.69sINFOrobot_state_publishergot segment collision_supports_007 +181.69sINFOrobot_state_publishergot segment collision_supports_008 +181.69sINFOrobot_state_publishergot segment collision_supports_009 +181.69sINFOrobot_state_publishergot segment collision_supports_010 +181.69sINFOrobot_state_publishergot segment collision_supports_011 +181.69sINFOrobot_state_publishergot segment collision_supports_012 +181.69sINFOrobot_state_publishergot segment collision_supports_013 +181.69sINFOrobot_state_publishergot segment collision_supports_014 +181.69sINFOrobot_state_publishergot segment collision_supports_015 +181.69sINFOrobot_state_publishergot segment collision_vacuum_base +181.69sINFOrobot_state_publishergot segment collision_vacuum_suction_cups +181.69sINFOrobot_state_publishergot segment flange +181.69sINFOrobot_state_publishergot segment forearm_link +181.69sINFOrobot_state_publishergot segment forearm_pinch_link +181.69sINFOrobot_state_publishergot segment front_cover_link +181.69sINFOrobot_state_publishergot segment front_left_wheel_link +181.69sINFOrobot_state_publishergot segment front_lights_link +181.69sINFOrobot_state_publishergot segment front_right_wheel_link +181.69sINFOrobot_state_publishergot segment front_rocker_link +181.69sINFOrobot_state_publishergot segment ft_frame +181.69sINFOrobot_state_publishergot segment grasp_link +181.69sINFOrobot_state_publishergot segment ham_assem_link +181.69sINFOrobot_state_publishergot segment imu_link +181.69sINFOrobot_state_publishergot segment left_side_cover_link +181.69sINFOrobot_state_publishergot segment mid_mount +181.69sINFOrobot_state_publishergot segment rear_cover_link +181.69sINFOrobot_state_publishergot segment rear_left_wheel_link +181.69sINFOrobot_state_publishergot segment rear_lights_link +181.70sINFOrobot_state_publishergot segment rear_right_wheel_link +181.70sINFOrobot_state_publishergot segment rear_rocker_link +181.70sINFOrobot_state_publishergot segment ridgeback_base_link +181.70sINFOrobot_state_publishergot segment right_side_cover_link +181.70sINFOrobot_state_publishergot segment riser_link +181.70sINFOrobot_state_publishergot segment shoulder_link +181.70sINFOrobot_state_publishergot segment tool0 +181.70sINFOrobot_state_publishergot segment top_link +181.70sINFOrobot_state_publishergot segment upper_arm_link +181.70sINFOrobot_state_publishergot segment ur_mount_point +181.70sINFOrobot_state_publishergot segment vacuum_base +181.70sINFOrobot_state_publishergot segment virtual_rail_link_1 +181.70sINFOrobot_state_publishergot segment virtual_rail_link_2 +181.70sINFOrobot_state_publishergot segment visual_mesh +181.70sINFOrobot_state_publishergot segment world +181.70sINFOrobot_state_publishergot segment wrist_1_link +181.70sINFOrobot_state_publishergot segment wrist_2_link +181.70sINFOrobot_state_publishergot segment wrist_3_link +181.70sINFOrobot_state_publishergot segment wrist_3_pinch_link +181.72sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +181.72sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +181.72sINFOcontroller_serverConfiguring controller interface +181.72sINFOcontroller_servergetting goal checker plugins.. +181.72sINFOcontroller_serverController frequency set to 20.0000Hz +181.72sINFOlocal_costmap.local_costmapConfiguring +181.73sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +181.73sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +181.74sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +181.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +181.77sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +181.79sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +181.79sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +181.79sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +181.80sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +181.80sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +181.80sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +181.80sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +181.80sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +181.81sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +181.81sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +181.81sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +181.81sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +181.85sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +181.86sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +181.86sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +181.87sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +181.89sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +181.89sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +181.90sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +181.90sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +181.90sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +181.90sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +181.90sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +181.90sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +181.90sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +181.90sINFOmap_serverActivating +181.91sINFOmap_serverCreating bond (map_server) to lifecycle manager. +181.91sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, and 0.500000 angular threshold. +181.91sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +181.92sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +181.92sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +181.92sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +181.93sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Reversing allowed. +181.93sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +181.93sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +181.93sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +181.93sINFOcontroller_serverOptimizer reset +181.95sINFOcontroller_serverController Server has FollowPath controllers available. +181.97sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +181.97sINFOsmoother_serverConfiguring smoother server +181.98sWARNlaser_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. +181.98sWARNlaser_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. +181.99sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +181.99sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +182.01sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +182.01sINFOplanner_serverConfiguring +182.01sINFOglobal_costmap.global_costmapConfiguring +182.01sINFOlifecycle_manager_localizationServer map_server connected with bond. +182.01sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +182.01sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +182.04sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +182.05sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +182.05sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +182.05sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +182.07sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +182.07sINFOwaypoint_manager_nodeLoaded robot model in 0.415711 seconds[0m +182.10sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +182.10sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +182.10sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +182.12sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1008 X 1310 at 0.050000 m/pix +182.12sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner +182.12sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +182.14sINFOplanner_serverPlanner Server has GridBased planners available. +182.16sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +182.16sINFObehavior_serverConfiguring +182.18sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors/Spin +182.18sINFObehavior_serverConfiguring spin +182.21sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors/BackUp +182.21sINFObehavior_serverConfiguring backup +182.24sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading +182.25sINFObehavior_serverConfiguring drive_on_heading +182.28sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop +182.29sINFObehavior_serverConfiguring assisted_teleop +182.32sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors/Wait +182.33sINFObehavior_serverConfiguring wait +182.35sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +182.35sINFObt_navigatorConfiguring +182.35sINFOmove_groupLoaded robot model in 0.913402 seconds[0m +182.37sERRORros2_control_node-8process has died [pid 24301, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_88q58whq --params-file /tmp/launch_params_sg7quvtj --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_lqgm2lby --params-file /tmp/launch_params_dwy2nety']. +182.37sINFOros2_control_node#14 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56159f2b5ec4, in +182.37sINFOros2_control_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe3c5eb8e3f, in __libc_start_main +182.37sINFOros2_control_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe3c5eb8d8f, in +182.37sINFOros2_control_node#11 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56159f2b536f, in +182.38sINFOros2_control_node#10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fe3c65d548a, 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&) +182.38sINFOros2_control_node#9 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fe3c65d043f, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) +182.38sINFOros2_control_node#8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fe3c5d87334, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool) +182.38sINFOros2_control_node#7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fe3c5d63723, in +182.38sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fe3c61884d7, in __cxa_throw +182.38sINFOros2_control_node#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fe3c6188276, in std::terminate() +182.38sINFOros2_control_node#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fe3c618820b, in +182.38sINFOros2_control_node#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fe3c617cb9d, in +182.38sINFOros2_control_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe3c5eb77f2, in abort +182.38sINFOros2_control_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe3c5ed1475, in raise +182.38sINFOros2_control_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe3c5f259fc, in pthread_kill +182.38sERRORros2_control_nodeAborted (Signal sent by tkill() 24301 0) +182.41sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +182.50sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +182.56sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +182.71sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +182.71sINFOwaypoint_followerConfiguring +182.76sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +182.78sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +182.78sINFOvelocity_smootherConfiguring velocity smoother +182.79sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +182.80sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +182.81sINFOcontroller_serverActivating +182.81sINFOlocal_costmap.local_costmapActivating +182.81sINFOlocal_costmap.local_costmapChecking transform +182.81sINFOlocal_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 +182.90sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +183.01sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +183.03sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +183.04sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +183.12sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +183.17sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +183.20sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +183.52sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/velocity_smoother/transition_event" +183.52sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/velocity_smoother/transition_event"[0m +183.53sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/transformed_global_plan" +183.53sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/transformed_global_plan"[0m +183.54sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/trajectories" +183.54sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/trajectories"[0m +183.54sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf_static" +183.54sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf_static"[0m +183.54sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/scan_rear" +183.54sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/scan_front_filtered" +183.54sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/scan_front" +183.54sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/scan_rear"[0m +183.54sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/scan_front_filtered"[0m +183.54sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/scan_front"[0m +183.54sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/robot_description" +183.54sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/robot_description"[0m +183.55sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped" +183.55sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/platform_velocity_controller_nav2/cmd_vel_unstamped"[0m +183.58sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene" +183.58sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/planning_scene"[0m +183.59sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/odom_reliable" +183.59sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/odom" +183.59sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/plan_smoothed" +183.59sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/odom_reliable"[0m +183.59sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/odom"[0m +183.59sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/plan_smoothed"[0m +183.59sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/objective_server_heartbeat" +183.59sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/objective_server_heartbeat"[0m +183.59sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/move_joint" +183.59sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/robot_description_semantic" +183.59sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/move_joint"[0m +183.59sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/robot_description_semantic"[0m +183.59sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/moveit_pro_ui/move_end_effector" +183.59sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/moveit_pro_ui/move_end_effector"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/result" +183.60sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/plan" +183.60sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/moveit_pro_ui/do_teleoperate/goal" +183.60sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/moveit_pro_ui/do_teleoperate/feedback" +183.60sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/moveit_pro_ui/do_teleoperate/cancel" +183.60sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/monitored_planning_scene" +183.60sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/result"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/plan"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/monitored_planning_scene"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/preempt_teleop" +183.60sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/preempt_teleop"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/local_costmap/published_footprint" +183.60sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/local_costmap/published_footprint"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/planning_scene_world" +183.60sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/planning_scene_world"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/local_costmap/footprint" +183.60sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/local_costmap/footprint"[0m +183.60sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/local_costmap/costmap_updates" +183.60sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/local_costmap/costmap_updates"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/local_costmap/costmap" +183.61sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scan_rear_filtered" +183.61sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/local_costmap/costmap"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scan_rear_filtered"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_states" +183.61sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_states"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/imu_sensor_broadcaster/imu_reliable" +183.61sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/map" +183.61sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/imu_sensor_broadcaster/imu" +183.61sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/tf" +183.61sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/global_costmap/published_footprint" +183.61sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/global_costmap/footprint" +183.61sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/imu_sensor_broadcaster/imu_reliable"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/global_costmap/costmap_updates" +183.61sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/map"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/imu_sensor_broadcaster/imu"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/tf"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/global_costmap/published_footprint"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/global_costmap/footprint"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/global_costmap/costmap_updates"[0m +183.61sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/speed_limit" +183.61sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/speed_limit"[0m +183.62sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/costmap_raw" +183.62sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/local_costmap/costmap_raw" +183.62sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/global_costmap/costmap" +183.62sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/global_costmap/costmap_raw"[0m +183.62sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/local_costmap/costmap_raw"[0m +183.62sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/global_costmap/costmap"[0m +183.62sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/diagnostics" +183.62sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/diagnostics"[0m +183.62sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/collision_object" +183.62sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/waypoint_follower/transition_event" +183.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/cmd_vel_teleop" +183.62sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/cmd_vel_nav" +183.62sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/cmd_vel" +183.62sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/collision_object"[0m +183.62sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/bt_navigator/transition_event" +183.62sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/waypoint_follower/transition_event"[0m +183.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/cmd_vel_teleop"[0m +183.62sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/cmd_vel_nav"[0m +183.63sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/cmd_vel"[0m +183.63sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/bt_navigator/transition_event"[0m +183.63sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/bond" +183.63sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/bond"[0m +183.63sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/attached_collision_object" +183.63sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/attached_collision_object"[0m +183.63sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/store_joint_state" +183.63sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/moveit_pro_ui/store_joint_state"[0m +183.63sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/goal_pose" +183.63sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_interface/move_joint" +183.63sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/agent_interface/move_end_effector" +183.63sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/goal_pose"[0m +183.63sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/agent_interface/move_joint"[0m +183.63sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/agent_interface/move_end_effector"[0m +183.91sINFOobjective_server_node[2026-06-03 14:59:42.574] [moveit_pro_license] [info] +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +184.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +184.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +184.09sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +184.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +184.18sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +184.25sINFOobjective_server_nodeLoaded robot model in 0.29622 seconds[0m +184.51sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/visual_markers" +184.51sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/visual_markers"[0m +184.52sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/description" +184.52sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/description"[0m +184.52sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/failure_reason_collector" +184.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/blackboard_contents" +184.52sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/failure_reason_collector"[0m +184.52sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/blackboard_contents"[0m +184.52sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/behavior_tree_status" +184.52sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/behavior_tree_status"[0m +184.52sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/statistics" +184.52sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/statistics"[0m +186.30sINFOcomponent_container_mtLoaded robot model in 2.09438 seconds[0m +187.21sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/transient_monitored_planning_scene_without_octomap" +187.65sINFOmove_groupMoveGroup debug mode is ON +187.72sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" +188.85sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers +188.98sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers +189.01sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers +189.12sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers +189.15sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers +189.18sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers +189.28sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers +189.28sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers +189.30sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers +189.31sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers +189.33sFATALspawner_force_torque_sensor_broadcasterCould 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 + 0.06sINFOmove_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 + 0.07sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_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 + 0.15sINFOmove_group ×4 + 0.15sINFOmove_group******************************************************** ×2 + 0.15sINFOmove_group* MoveGroup using: + 0.15sINFOmove_group* - apply_planning_scene_service + 0.15sINFOmove_group* - clear_octomap_service + 0.15sINFOmove_group* - ExecuteTaskSolution + 0.15sINFOmove_group* - get_group_urdf + 0.15sINFOmove_group* - load_geometry_from_file + 0.15sINFOmove_group* - get_planning_scene_service + 0.15sINFOmove_group* - kinematics_service + 0.15sINFOmove_group* - save_geometry_to_file + 0.15sINFOmove_group* - GetPlanningGroups + 0.15sINFOmove_group* - SetActiveControllerService + 0.15sINFOmove_group* - URDFPlanningSceneCapability + 0.15sINFOmove_group[0m + 0.15sINFOmove_group[92mYou can start planning now![0m + 0.16sINFOlocal_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 + 1.20sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.33sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.47sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.51sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.66sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.68sFATALspawner_force_torque_sensor_broadcasterCould 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 | 6.4s | 37 errors · 31 warnings · 347 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/2026-06-03-15-02-23-747481-30a9c513818e-25089 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.26sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.29sINFOros2_control_node-1process started with pid [25119] + 1.29sINFOmove_group-9process started with pid [25138] + 1.29sINFOparameter_manager_node-10process started with pid [25142] + 1.29sINFOwaypoint_manager_node-11process started with pid [25180] + 1.29sINFOmove_joint_resampler_node-12process started with pid [25182] + 1.29sINFOmove_end_effector_resampler_node-13process started with pid [25184] + 1.29sINFOobjective_server_node_main-14process started with pid [25186] + 1.29sINFOcomponent_container_mt-15process started with pid [25188] + 1.29sINFOexecute_objective_bridge-16process started with pid [25195] + 1.29sINFOui_teleop_bridge-17process started with pid [25200] + 1.29sINFOfoxglove_bridge-18process started with pid [25202] + 1.30sINFOtf2_web_republisher_node-19process started with pid [25205] + 1.30sINFOweb_video_server-20process started with pid [25208] + 1.32sINFOparameter_manager_nodeStarted parameter manager node. + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25121] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25123] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25125] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25127] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25129] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25132] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25135] + 1.34sWARNros2_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 + 1.34sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.53sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.53sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.58sINFOfoxglove_bridgeServer listening on port 3201 + 1.58sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description" + 1.60sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description"[0m + 1.64sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.64sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.66sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state" + 1.67sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 1.67sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/rosout" + 1.67sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/rosout"[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" + 1.67sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_end_effector" + 1.67sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_end_effector"[0m + 2.21sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2_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. + 2.26sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.26sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.28sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.31sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.39sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.69sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf_static" + 2.69sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description_semantic" + 2.70sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf_static"[0m + 2.70sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description_semantic"[0m + 2.72sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/planning_scene_world" + 2.72sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/planning_scene_world"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene" + 2.75sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf" + 2.75sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/move_joint" + 2.75sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/move_joint"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.76sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.76sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.76sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene" + 2.76sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states" + 2.76sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/collision_object" + 2.76sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/collision_object"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/attached_collision_object" + 2.76sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_joint" + 2.76sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.76sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/attached_collision_object"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_joint"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 3.55sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.55sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.56sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.56sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.56sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.56sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.57sINFOcontroller_managerupdate rate is 600 Hz + 3.57sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.57sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.57sWARNcontroller_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. + 3.57sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.57sWARNros2_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 + 3.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.57sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller_nav2'. + 3.58sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller_nav2'.[0m + 3.58sFATALspawner_platform_velocity_controller_nav2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m + 3.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.63sINFOobjective_server_node[2026-06-03 15:02:27.928] [moveit_pro_license] [info] + 3.63sINFOobjective_server_node************************************************* ×2 + 3.63sINFOobjective_server_node* MoveIt Pro License + 3.63sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.63sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller'. + 3.63sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' ×2 + 3.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. ×2 + 3.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. ×2 + 3.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. ×2 + 3.63sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. ×2 + 3.63sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller'.[0m + 3.63sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 3.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.63sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 3.63sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 3.63sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 3.63sFATALspawner_platform_velocity_controller[91mFailed loading controller [1mplatform_velocity_controller[0m + 3.63sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.77sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.77sWARNspawner_joint_state_broadcaster[93mController already loaded, skipping load_controller[0m + 3.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' ×2 + 3.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.85sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.85sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.87sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.87sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.87sWARNspawner_force_torque_sensor_broadcaster[93mController already loaded, skipping load_controller[0m + 3.87sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[93mController already loaded, skipping load_controller[0m + 3.89sERRORcontroller_managerThe 'type' param was not defined for 'vacuum_gripper'. + 3.89sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.89sERRORros2_control_nodeThe 'type' param was not defined for 'vacuum_gripper'.[0m + 3.89sINFOcontroller_managerLoading controller 'joint_trajectory_controller' ×2 + 3.89sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.89sFATALspawner_vacuum_gripper[91mFailed loading controller [1mvacuum_gripper[0m + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.92sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.92sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.92sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_joint_velocity_controller'. + 3.92sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.92sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_joint_velocity_controller'.[0m + 3.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.92sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.93sFATALspawner_arm_only_joint_velocity_controller[91mFailed loading controller [1marm_only_joint_velocity_controller[0m + 3.93sINFOros2_control_node[2026-06-03 15:02:28.224] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.93sINFOros2_control_node[2026-06-03 15:02:28.224] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.95sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/camera_info" + 3.95sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/camera_info"[0m + 3.95sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth" + 3.95sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/depth" + 3.95sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/color" + 3.95sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth"[0m + 3.95sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/depth"[0m + 3.95sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/color"[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/robotiq_gripper_controller/transition_event" + 3.96sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/robotiq_gripper_controller/transition_event"[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/statistics" + 3.96sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/statistics"[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/points" + 3.96sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_velocity_controller/transition_event" + 3.96sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color" + 3.96sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_admittance_controller/transition_event" + 3.96sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_state_broadcaster/transition_event" + 3.96sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/transition_event" + 3.96sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/points"[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_velocity_controller/transition_event"[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_state_broadcaster/transition_event"[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/failure_reason_collector" + 3.96sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/failure_reason_collector"[0m + 3.97sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/dynamic_joint_states" + 3.97sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/dynamic_joint_states"[0m + 3.97sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description" + 3.97sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points" + 3.97sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/camera_info" + 3.97sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/transition_event" + 3.97sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description"[0m + 3.97sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points"[0m + 3.97sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/camera_info"[0m + 3.97sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/transition_event"[0m + 3.98sINFOobjective_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. + 3.98sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 4.00sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 4.00sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 4.00sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 4.00sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 4.00sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 4.00sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 4.00sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 4.00sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 4.02sINFOros2_control_node[2026-06-03 15:02:28.314] [info] First order lag filter time constant set to: 0.2 seconds + 4.02sINFOros2_control_node[2026-06-03 15:02:28.314] [info] Controller state will be published at 50 Hz. + 4.02sINFOros2_control_node[2026-06-03 15:02:28.321] [info] Registered `FollowJointTrajectory` action server. + 4.02sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_velocity_force_controller'. + 4.02sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_velocity_force_controller'.[0m + 4.03sERRORcontroller_managerA controller named 'joint_velocity_controller' was already loaded inside the controller manager + 4.03sFATALspawner_arm_only_velocity_force_controller[91mFailed loading controller [1marm_only_velocity_force_controller[0m + 4.03sERRORcontroller_managerA controller named 'joint_trajectory_controller' was already loaded inside the controller manager + 4.03sFATALspawner_joint_velocity_controller[91mFailed loading controller [1mjoint_velocity_controller[0m + 4.03sERRORros2_control_nodeA controller named 'joint_velocity_controller' was already loaded inside the controller manager[0m + 4.03sERRORros2_control_nodeA controller named 'joint_trajectory_controller' was already loaded inside the controller manager[0m + 4.03sERRORcontroller_managerThe 'type' param was not defined for 'imu_sensor_broadcaster'. + 4.03sINFOcontroller_managerLoading controller 'velocity_force_controller' ×2 + 4.03sFATALspawner_joint_trajectory_controller[91mFailed loading controller [1mjoint_trajectory_controller[0m + 4.03sFATALspawner_imu_sensor_broadcaster[91mFailed loading controller [1mimu_sensor_broadcaster[0m + 4.03sERRORros2_control_nodeThe 'type' param was not defined for 'imu_sensor_broadcaster'.[0m + 4.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.13sERRORcontroller_managerA controller named 'velocity_force_controller' was already loaded inside the controller manager + 4.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.13sFATALspawner_velocity_force_controller[91mFailed loading controller [1mvelocity_force_controller[0m + 4.13sERRORros2_control_nodeA controller named 'velocity_force_controller' was already loaded inside the controller manager[0m + 4.13sFATALros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[91mFailed loading controller [1mvelocity_force_controller[0m + 4.14sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 4.14sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 4.18sINFOros2_control_node[2026-06-03 15:02:28.480] [info] Controller state will be published at 20 Hz. + 4.18sINFOros2_control_node[2026-06-03 15:02:28.481] [info] JointVelocityController 'on_configure' succeeded. + 4.18sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' ×2 + 4.18sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.19sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 4.19sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.19sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 4.19sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 4.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 4.19sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 4.19sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 4.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 4.20sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 4.20sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 4.20sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.20sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 4.21sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 4.21sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 4.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 4.25sINFOros2_control_node[2026-06-03 15:02:28.552] [info] Controller state will be published at 10 Hz. + 4.25sINFOros2_control_node[2026-06-03 15:02:28.553] [info] VelocityForceController 'on_configure' succeeded. + 4.26sWARNcontroller_managerController with name 'joint_state_broadcaster' is not inactive so its following controllers do not have to be checked, because it cannot be activated. + 4.26sWARNcontroller_managerCould not activate controller with name 'joint_state_broadcaster'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information. + 4.26sERRORcontroller_managerAborting, no controller is switched! (::STRICT switch) ×2 + 4.26sWARNros2_control_nodeController with name 'joint_state_broadcaster' is not inactive so its following controllers do not have to be checked, because it cannot be activated.[0m + 4.26sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.26sERRORspawner_joint_state_broadcaster[91mFailed to activate controller : joint_state_broadcaster[0m + 4.26sWARNros2_control_nodeCould not activate controller with name 'joint_state_broadcaster'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information.[0m + 4.26sWARNcontroller_managerController with name 'force_torque_sensor_broadcaster' is not inactive so its following controllers do not have to be checked, because it cannot be activated. + 4.26sWARNcontroller_managerCould not activate controller with name 'force_torque_sensor_broadcaster'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information. + 4.26sERRORros2_control_nodeAborting, no controller is switched! (::STRICT switch)[0m ×2 + 4.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.26sWARNros2_control_nodeController with name 'force_torque_sensor_broadcaster' is not inactive so its following controllers do not have to be checked, because it cannot be activated.[0m + 4.26sWARNros2_control_nodeCould not activate controller with name 'force_torque_sensor_broadcaster'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information.[0m + 4.26sERRORspawner_force_torque_sensor_broadcaster[91mFailed to activate controller : force_torque_sensor_broadcaster[0m + 4.26sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.26sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[91mFailed to activate controller : force_torque_sensor_broadcaster[0m + 4.28sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.28sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25129] + 4.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ros2run]: Process exited with failure 1 + 4.43sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has died [pid 25132, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 4.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25135] + 4.52sINFOobjective_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. + 4.52sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 4.52sWARNobjective_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/. + 4.54sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.57sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.57sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 + 4.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25125] + 4.61sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.61sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.61sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.61sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.61sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 25121, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 4.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25127] + 4.61sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.61sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 4.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25123] + 4.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 4.66sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 4.70sINFOmove_group ×2 + 4.70sINFOmove_group[92mYou can start planning now![0m + 4.83sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event" + 4.83sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event"[0m + 4.83sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command" + 4.83sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event" + 4.83sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command"[0m + 4.83sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event"[0m + 4.83sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state" + 4.83sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state"[0m + 4.84sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 4.84sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 4.84sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state" + 4.84sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command" + 4.84sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state"[0m + 4.84sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command"[0m + 4.84sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory" + 4.84sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 4.85sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers" + 4.85sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers"[0m + 4.85sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 4.85sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.85sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 4.85sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.86sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 4.86sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state" + 4.86sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents" + 4.86sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.86sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state"[0m + 4.86sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents"[0m + 4.86sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status" + 4.86sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status"[0m + 5.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 5.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 5.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 5.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498950.10507178 seconds. ×2 + 5.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498950.11524582 seconds ×2 + 6.03sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 6.03sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 6.36sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498950.65738678 seconds. ×2 + 6.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.54sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.55sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 7.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498951.71751237 seconds ×2 + 7.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 seconds. ×2 + 9.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 seconds ×2 + 9.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498953.84211373 seconds. ×2 + 9.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 10.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498951.71751237 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498953.84211373 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 3.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.21sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 4.21sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 6.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.70sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.71sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.71sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 50 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 + 0.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498951.71751237 seconds ×2 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.90sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 seconds. ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 seconds ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498953.84211373 seconds. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 5.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.09sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 5.09sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 7.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | createvector.xml | 0.0s | 92 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state" + 0.01sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 0.01sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state" + 0.01sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command" + 0.01sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory" + 0.01sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers" + 0.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents" + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status" + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status"[0m + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498950.10507178 seconds. ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498950.11524582 seconds ×2 + 1.20sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.20sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498950.65738678 seconds. ×2 + 1.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.72sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498951.71751237 seconds ×2 + 3.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 seconds. ×2 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 seconds ×2 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498953.84211373 seconds. ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 6.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 6.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 6.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 6.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 6.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.80sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 6.80sINFOros2_control_node[2026-06-03 15:02:35.930] [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/2026-06-03-14-59-30-217301-30a9c513818e-24255 + 0.00sINFOlaunchDefault logging verbosity is set to INFO | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 errors · 12 warnings · 141 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/2026-06-03-15-02-23-747481-30a9c513818e-25089 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.26sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.29sINFOros2_control_node-1process started with pid [25119] + 1.29sINFOmove_group-9process started with pid [25138] + 1.29sINFOparameter_manager_node-10process started with pid [25142] + 1.29sINFOwaypoint_manager_node-11process started with pid [25180] + 1.29sINFOmove_joint_resampler_node-12process started with pid [25182] + 1.29sINFOmove_end_effector_resampler_node-13process started with pid [25184] + 1.29sINFOobjective_server_node_main-14process started with pid [25186] + 1.29sINFOcomponent_container_mt-15process started with pid [25188] + 1.29sINFOexecute_objective_bridge-16process started with pid [25195] + 1.29sINFOui_teleop_bridge-17process started with pid [25200] + 1.29sINFOfoxglove_bridge-18process started with pid [25202] + 1.30sINFOtf2_web_republisher_node-19process started with pid [25205] + 1.30sINFOweb_video_server-20process started with pid [25208] + 1.32sINFOparameter_manager_nodeStarted parameter manager node. + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [25121] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [25123] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [25125] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [25127] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [25129] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [25132] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [25135] + 1.34sWARNros2_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 + 1.34sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.53sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.53sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.58sINFOfoxglove_bridgeServer listening on port 3201 + 1.58sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description" + 1.60sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description"[0m + 1.64sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.64sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.66sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state" + 1.67sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 1.67sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/rosout" + 1.67sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/rosout"[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" + 1.67sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_end_effector" + 1.67sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 1.67sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_end_effector"[0m + 2.21sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2_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. + 2.26sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.26sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.28sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.31sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.39sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.69sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf_static" + 2.69sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description_semantic" + 2.70sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/tf_static"[0m + 2.70sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description_semantic"[0m + 2.72sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/planning_scene_world" + 2.72sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/planning_scene_world"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene" + 2.75sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf" + 2.75sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/tf"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/move_joint" + 2.75sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/move_joint"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.76sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.76sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.76sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene" + 2.76sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states" + 2.76sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/collision_object" + 2.76sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/collision_object"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/attached_collision_object" + 2.76sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_joint" + 2.76sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.76sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/attached_collision_object"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_joint"[0m + 2.76sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 3.55sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.55sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.56sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.56sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.56sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.56sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.57sINFOcontroller_managerupdate rate is 600 Hz + 3.57sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.57sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.57sWARNcontroller_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. + 3.57sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.57sWARNros2_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 + 3.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.57sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller_nav2'. + 3.58sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller_nav2'.[0m + 3.58sFATALspawner_platform_velocity_controller_nav2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m + 3.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.63sINFOobjective_server_node[2026-06-03 15:02:27.928] [moveit_pro_license] [info] + 3.63sINFOobjective_server_node************************************************* ×2 + 3.63sINFOobjective_server_node* MoveIt Pro License + 3.63sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.63sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller'. + 3.63sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.63sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.63sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller'.[0m + 3.63sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.63sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.63sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.63sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.63sFATALspawner_platform_velocity_controller[91mFailed loading controller [1mplatform_velocity_controller[0m + 3.63sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.77sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.77sWARNspawner_joint_state_broadcaster[93mController already loaded, skipping load_controller[0m + 3.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[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 + 0.06sINFOmove_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 + 0.07sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_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 + 0.15sINFOmove_group ×4 + 0.15sINFOmove_group******************************************************** ×2 + 0.15sINFOmove_group* MoveGroup using: + 0.15sINFOmove_group* - apply_planning_scene_service + 0.15sINFOmove_group* - clear_octomap_service + 0.15sINFOmove_group* - ExecuteTaskSolution + 0.15sINFOmove_group* - get_group_urdf + 0.15sINFOmove_group* - load_geometry_from_file + 0.15sINFOmove_group* - get_planning_scene_service + 0.15sINFOmove_group* - kinematics_service + 0.15sINFOmove_group* - save_geometry_to_file + 0.15sINFOmove_group* - GetPlanningGroups + 0.15sINFOmove_group* - SetActiveControllerService + 0.15sINFOmove_group* - URDFPlanningSceneCapability + 0.15sINFOmove_group[0m + 0.15sINFOmove_group[92mYou can start planning now![0m + 0.16sINFOlocal_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 + 1.20sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.33sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.47sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.51sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.66sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.68sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 92 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state" + 0.01sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 0.01sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state" + 0.01sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command" + 0.01sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory" + 0.01sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers" + 0.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents" + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status" + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status"[0m + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498950.10507178 seconds. ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498950.11524582 seconds ×2 + 1.20sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.20sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498950.65738678 seconds. ×2 + 1.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.72sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498951.71751237 seconds ×2 + 3.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 seconds. ×2 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 seconds ×2 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498953.84211373 seconds. ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 6.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 6.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 6.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 6.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 6.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.80sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 6.80sINFOros2_control_node[2026-06-03 15:02:35.930] [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 + 0.06sINFOmove_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 + 0.07sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_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 + 0.15sINFOmove_group ×4 + 0.15sINFOmove_group******************************************************** ×2 + 0.15sINFOmove_group* MoveGroup using: + 0.15sINFOmove_group* - apply_planning_scene_service + 0.15sINFOmove_group* - clear_octomap_service + 0.15sINFOmove_group* - ExecuteTaskSolution + 0.15sINFOmove_group* - get_group_urdf + 0.15sINFOmove_group* - load_geometry_from_file + 0.15sINFOmove_group* - get_planning_scene_service + 0.15sINFOmove_group* - kinematics_service + 0.15sINFOmove_group* - save_geometry_to_file + 0.15sINFOmove_group* - GetPlanningGroups + 0.15sINFOmove_group* - SetActiveControllerService + 0.15sINFOmove_group* - URDFPlanningSceneCapability + 0.15sINFOmove_group[0m + 0.15sINFOmove_group[92mYou can start planning now![0m + 0.16sINFOlocal_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 + 1.20sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.33sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.47sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.51sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.66sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.68sFATALspawner_force_torque_sensor_broadcasterCould 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 + 0.06sINFOmove_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 + 0.07sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_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 + 0.15sINFOmove_group ×4 + 0.15sINFOmove_group******************************************************** ×2 + 0.15sINFOmove_group* MoveGroup using: + 0.15sINFOmove_group* - apply_planning_scene_service + 0.15sINFOmove_group* - clear_octomap_service + 0.15sINFOmove_group* - ExecuteTaskSolution + 0.15sINFOmove_group* - get_group_urdf + 0.15sINFOmove_group* - load_geometry_from_file + 0.15sINFOmove_group* - get_planning_scene_service + 0.15sINFOmove_group* - kinematics_service + 0.15sINFOmove_group* - save_geometry_to_file + 0.15sINFOmove_group* - GetPlanningGroups + 0.15sINFOmove_group* - SetActiveControllerService + 0.15sINFOmove_group* - URDFPlanningSceneCapability + 0.15sINFOmove_group[0m + 0.15sINFOmove_group[92mYou can start planning now![0m + 0.16sINFOlocal_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 + 1.20sFATALspawner_platform_velocity_controller_nav2Could not contact service /controller_manager/list_controllers + 1.33sFATALspawner_joint_trajectory_controllerCould not contact service /controller_manager/list_controllers + 1.36sFATALspawner_imu_sensor_broadcasterCould not contact service /controller_manager/list_controllers + 1.47sFATALspawner_arm_only_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.51sFATALspawner_platform_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.53sFATALspawner_vacuum_gripperCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_arm_only_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.63sFATALspawner_joint_state_broadcasterCould not contact service /controller_manager/list_controllers + 1.65sFATALspawner_joint_velocity_controllerCould not contact service /controller_manager/list_controllers + 1.66sFATALspawner_velocity_force_controllerCould not contact service /controller_manager/list_controllers + 1.68sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 92 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state" + 0.01sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 0.01sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state" + 0.01sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command" + 0.01sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory" + 0.01sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers" + 0.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents" + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status" + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status"[0m + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498950.10507178 seconds. ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498950.11524582 seconds ×2 + 1.20sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.20sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498950.65738678 seconds. ×2 + 1.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.72sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498951.71751237 seconds ×2 + 3.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 seconds. ×2 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 seconds ×2 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498953.84211373 seconds. ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 6.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 6.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 6.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 6.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 6.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.80sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 6.80sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 47 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498951.71751237 seconds ×2 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.90sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 seconds. ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 seconds ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498953.84211373 seconds. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 5.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.09sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 5.09sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498951.71751237 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498953.84211373 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 3.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.21sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 4.21sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 6.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 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 | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization1 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 | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 4 errors · 15913 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780499107.21345186 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780499107.78136110 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X___X] + 0.74sINFOros2_control_node[2026-06-03 15:05:07.954] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-03 15:05:07.954] [info] Accepted new action goal + 0.92sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.92sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 2.01sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.01sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.06sINFOobjective_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 + 4.31sINFOjoint_trajectory_controllerReceived new action goal ×3907 + 4.31sINFOjoint_trajectory_controllerAccepted new action goal ×3905 + 4.31sINFOros2_control_nodeReceived new action goal[0m ×3907 + 4.31sINFOros2_control_nodeAccepted new action goal[0m ×3905 + 9.07sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.17sINFOjoint_trajectory_controllerGoal reached, success! ×121 + 9.17sINFOros2_control_nodeGoal reached, success![0m ×121 + 30.68sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 3:10.008 of wall time (118/58673). Below 1% is expected on a non-realtime system.[0m + 33.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499139.222477) that ends in the past (1780499140.222477) + 33.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499139.222477) that ends in the past (1780499140.222477)[0m + 35.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499139.222477) that ends in the past (1780499142.722477) + 35.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499139.222477) that ends in the past (1780499142.722477)[0m + 44.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780499151.61616921 seconds ×2 + 44.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780499152.19669461 seconds. ×2 + 45.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 45.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 45.13sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 45.16sINFOros2_control_node[2026-06-03 15:05:52.368] [info] Received new action goal + 45.16sINFOros2_control_node[2026-06-03 15:05:52.368] [info] Accepted new action goal | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 41.9s | 129 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499050.69830441 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499051.29282570 seconds. ×2 + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778767659 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778798789 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274497512 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274529703 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.374332489 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376294481 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376315262 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.98sINFOobjective_server_node[0;93m2026-06-03 15:04:12.676777968 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696539404 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696577515 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499053.60767746 seconds ×2 + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499054.32072687 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.70sINFOobjective_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 + 3.71sINFOobjective_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 + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×3 + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Received new action goal + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Accepted new action goal + 6.85sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [info] Accepted new action goal + 9.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 9.98sINFOros2_control_node[2026-06-03 15:04:20.674] [info] Received new action goal + 9.98sINFOros2_control_node[2026-06-03 15:04:20.674] [info] Accepted new action goal + 12.93sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.99sINFOros2_control_node[2026-06-03 15:04:23.686] [info] Received new action goal + 12.99sINFOros2_control_node[2026-06-03 15:04:23.686] [info] Accepted new action goal + 15.94sINFOobjective_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 + 22.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 23.62sINFOros2_control_node[2026-06-03 15:04:34.313] [info] Received new action goal + 23.62sINFOros2_control_node[2026-06-03 15:04:34.313] [info] Accepted new action goal + 24.79sINFOobjective_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 + 24.80sINFOobjective_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 + 25.07sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.11sINFOros2_control_node[2026-06-03 15:04:35.809] [info] Received new action goal + 25.11sINFOros2_control_node[2026-06-03 15:04:35.809] [info] Accepted new action goal + 27.19sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.15% of iterations over budget over 2:10.006 of wall time (60/40188). Below 1% is expected on a non-realtime system.[0m + 27.23sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 27.23sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.24sINFOros2_control_node[2026-06-03 15:04:37.934] [info] Received new action goal + 27.24sINFOros2_control_node[2026-06-03 15:04:37.934] [info] Accepted new action goal + 30.27sINFOros2_control_node[2026-06-03 15:04:40.964] [info] Received new action goal + 30.27sINFOros2_control_node[2026-06-03 15:04:40.964] [info] Accepted new action goal + 32.84sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 32.84sINFOobjective_server_nodePath shortcutter: [X________________X] + 32.88sINFOros2_control_node[2026-06-03 15:04:43.577] [info] Received new action goal + 32.88sINFOros2_control_node[2026-06-03 15:04:43.577] [info] Accepted new action goal + 43.75sINFOros2_control_node[2026-06-03 15:04:54.444] [info] Received new action goal + 43.75sINFOros2_control_node[2026-06-03 15:04:54.444] [info] Accepted new action goal + 44.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780499095.60088229 seconds ×2 + 45.61sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780499096.30330944 seconds. ×2 + 45.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 45.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 46.80sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 46.81sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 46.83sINFOros2_control_node[2026-06-03 15:04:57.526] [info] Received new action goal + 46.83sINFOros2_control_node[2026-06-03 15:04:57.526] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.5s | 2 errors · 111 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 0.04sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.09sINFOobjective_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 + 0.50sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.50sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 0.88sERRORobjective_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 + 0.88sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780499191.74870253 seconds ×2 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.90sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780499192.37291408 seconds. ×2 + 1.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.55sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.53sINFOobjective_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 + 2.63sINFOobjective_server_nodeFound path in 7 iterations (0.00587566 s). + 2.69sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.70sINFOros2_control_node[2026-06-03 15:06:33.567] [info] Received new action goal + 2.71sINFOros2_control_node[2026-06-03 15:06:33.568] [info] Accepted new action goal + 7.03sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.24% of iterations over budget over 4:10.008 of wall time (184/77032). Below 1% is expected on a non-realtime system.[0m + 11.36sINFOobjective_server_node[0;m[0;93m2026-06-03 15:06:42.223750605 [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 + 11.36sINFOobjective_server_node[0;93m2026-06-03 15:06:42.223777116 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.85sINFOobjective_server_node[0;93m2026-06-03 15:06:42.707024730 [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 + 11.85sINFOobjective_server_node[0;93m2026-06-03 15:06:42.707061321 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.96sINFOobjective_server_node[0;93m2026-06-03 15:06:42.818410533 [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 + 11.96sINFOobjective_server_node[0;93m2026-06-03 15:06:42.820703034 [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 + 11.96sINFOobjective_server_node[0;93m2026-06-03 15:06:42.820723115 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.25sINFOobjective_server_node[0;93m2026-06-03 15:06:43.109927017 [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 + 12.26sINFOobjective_server_node[0;93m2026-06-03 15:06:43.124134555 [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 + 12.26sINFOobjective_server_node[0;93m2026-06-03 15:06:43.124167756 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.13sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization" + 13.13sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization"[0m + 13.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 17.64sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 17.96sINFOobjective_server_nodeFound path in 4 iterations (0.00235539 s). + 18.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 18.05sINFOobjective_server_nodeFound path in 12 iterations (0.00342765 s). + 18.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 18.12sINFOobjective_server_nodeFound path in 2 iterations (0.00269042 s). + 18.16sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] + 18.17sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 18.17sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m + 18.18sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 18.20sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 18.22sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 18.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 18.26sINFOobjective_server_nodeFound path in 12 iterations (0.00413973 s). + 18.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 18.32sINFOobjective_server_nodeFound path in 1 iterations (0.0028323 s). + 18.35sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 18.37sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 18.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 18.42sINFOobjective_server_nodeFound path in 4 iterations (0.004153 s). + 18.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 18.49sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). + 18.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 18.55sINFOobjective_server_nodeFound path in 4 iterations (0.00320497 s). + 18.61sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] + 18.63sINFOobjective_server_nodeFound path in 1 iterations (0.00384002 s). + 18.68sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 18.73sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] + 18.76sINFOobjective_server_nodeFound path in 1 iterations (0.00221491 s). + 18.82sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 18.84sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 18.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 18.88sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 18.93sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________X] + 18.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 18.98sINFOros2_control_node[2026-06-03 15:06:49.843] [info] Received new action goal + 18.98sINFOros2_control_node[2026-06-03 15:06:49.843] [info] Accepted new action goal + 23.98sINFOros2_control_node[2026-06-03 15:06:54.846] [info] Received new action goal + 23.98sINFOros2_control_node[2026-06-03 15:06:54.846] [info] Accepted new action goal + 25.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 25.73sINFOros2_control_node[2026-06-03 15:06:56.596] [info] Received new action goal + 25.73sINFOros2_control_node[2026-06-03 15:06:56.596] [info] Accepted new action goal + 26.93sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 26.96sINFOros2_control_node[2026-06-03 15:06:57.826] [info] Received new action goal + 26.96sINFOros2_control_node[2026-06-03 15:06:57.826] [info] Accepted new action goal + 32.37sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780499223.23308635 seconds ×2 + 33.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780499223.95573616 seconds. ×2 + 33.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 33.30sINFOobjective_server_nodePath shortcutter: [X______X] + 33.34sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 33.34sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 33.34sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 33.34sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 33.34sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 33.34sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 33.34sINFOros2_control_node[2026-06-03 15:07:04.199] [info] Received new action goal + 33.34sINFOros2_control_node[2026-06-03 15:07:04.199] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 27.8s | 2 errors · 80 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Canceling active goal... + 0.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498966.33268166 seconds ×2 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498966.88784647 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498967.00797224 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498967.64818692 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Accepted new action goal + 20.66sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 20.66sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 21.16sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 21.16sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 23.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 23.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 23.37sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 23.64sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 23.64sINFOobjective_server_nodePath shortcutter: [X___________X] + 23.64sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). + 23.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 23.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 23.69sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 23.69sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 23.71sINFOobjective_server_nodeFound path in 1 iterations (0.00303619 s). + 23.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 23.83sINFOros2_control_node[2026-06-03 15:03:09.255] [info] Received new action goal + 23.83sINFOros2_control_node[2026-06-03 15:03:09.255] [info] Accepted new action goal + 26.35sINFOros2_control_node[2026-06-03 15:03:11.777] [info] Received new action goal + 26.35sINFOros2_control_node[2026-06-03 15:03:11.777] [info] Accepted new action goal + 28.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 28.11sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Received new action goal + 28.11sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Accepted new action goal + 29.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780498994.92834020 seconds ×2 + 30.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780498995.50833678 seconds. ×2 + 30.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780498995.58846641 seconds ×2 + 30.27sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 30.27sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 30.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780498996.20923424 seconds. ×2 + 30.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 30.87sINFOobjective_server_nodePath shortcutter: [X_____________X] + 30.89sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Received new action goal + 30.89sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Accepted new action goal + 31.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 31.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 24.8s | 98 errors · 7459 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×1633 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1584 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×1632 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×1583 + 0.32sINFOjoint_trajectory_controllerGoal reached, success! ×498 + 0.32sINFOros2_control_nodeGoal reached, success![0m ×498 + 3.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780499151.61616921 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: 1780499152.19669461 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 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 3.81sINFOros2_control_node[2026-06-03 15:05:52.368] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-03 15:05:52.368] [info] Accepted new action goal + 7.74sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.80sINFOobjective_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 + 7.83sINFOobjective_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 + 10.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499159.331970) ×2 + 10.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499159.331970)[0m ×2 + 11.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499159.871971) + 11.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499159.871971)[0m + 11.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499159.881970) + 11.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499159.881970)[0m + 12.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499160.561970) ×2 + 12.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499160.561970)[0m ×2 + 12.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499161.081970) + 12.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499161.091970) + 12.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499161.081970)[0m + 12.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499161.091970)[0m + 13.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499161.761971) + 13.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499161.761971)[0m + 13.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499161.771971) + 13.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499161.781971) + 13.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499161.771971)[0m + 13.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499161.781971)[0m + 13.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499162.261971) + 13.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499162.261971)[0m + 13.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499162.281971) ×2 + 13.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499162.281971)[0m ×2 + 13.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499162.301970) ×2 + 13.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499162.301970)[0m ×2 + 14.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499162.951971) + 14.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499162.951971)[0m + 14.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499162.961970) + 14.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499162.961970)[0m + 14.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499163.261971) + 14.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499163.261971)[0m + 14.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499163.471971) ×2 + 14.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499163.471971)[0m ×2 + 15.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.131971) ×2 + 15.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.131971)[0m ×2 + 15.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.151971) ×2 + 15.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.151971)[0m ×2 + 15.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.441970) + 15.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.441970)[0m + 15.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.461970) ×2 + 15.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.461970)[0m ×2 + 15.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.481971) + 15.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.481971)[0m + 16.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.651971) + 16.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499164.651971)[0m + 16.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499165.321970) + 16.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499165.321970)[0m + 16.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499165.331970) ×2 + 16.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499165.331970)[0m ×2 + 17.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499165.851971) + 17.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499165.851971)[0m + 17.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499166.471971) + 17.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499166.471971)[0m + 17.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499166.481971) + 17.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499166.491971) + 17.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499166.481971)[0m + 17.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499166.491971)[0m + 19.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499167.681970) ×2 + 19.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499167.681970)[0m ×2 + 19.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499167.691971) + 19.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499167.691971)[0m + 19.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499168.191971) ×2 + 19.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499168.191971)[0m ×2 + 19.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499168.211971) + 19.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499168.211971)[0m + 20.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499168.861970) + 20.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499168.861970)[0m + 20.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499169.411971) ×2 + 20.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499169.411971)[0m ×2 + 22.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499170.671971) + 22.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499170.671971)[0m + 23.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499171.901970) + 23.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499171.901970)[0m + 24.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499173.171971) + 24.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780499158.521971) that ends in the past (1780499173.171971)[0m + 27.83sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780499176.38854289 seconds ×2 + 28.41sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780499176.96958113 seconds. ×2 + 28.55sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 28.56sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 28.57sINFOros2_control_node[2026-06-03 15:06:17.133] [info] Received new action goal + 28.57sINFOros2_control_node[2026-06-03 15:06:17.133] [info] Accepted new action goal + 28.72sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 28.72sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 15.4s | 2 errors · 1082 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×211 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×211 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×211 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×211 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×96 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×96 + 3.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780499176.38854289 seconds ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780499176.96958113 seconds. ×2 + 3.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.79sINFOros2_control_node[2026-06-03 15:06:17.133] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:06:17.133] [info] Accepted new action goal + 3.94sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 3.94sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m + 9.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.80sINFOros2_control_node[2026-06-03 15:06:23.144] [info] Received new action goal + 9.80sINFOros2_control_node[2026-06-03 15:06:23.144] [info] Accepted new action goal + 11.67sINFOros2_control_node[2026-06-03 15:06:25.012] [info] Received new action goal + 11.67sINFOros2_control_node[2026-06-03 15:06:25.012] [info] Accepted new action goal + 17.52sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 17.52sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 17.57sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 17.61sINFOobjective_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 + 18.03sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 18.03sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 18.41sERRORobjective_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 + 18.41sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780499191.74870253 seconds ×2 + 19.03sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780499192.37291408 seconds. ×2 + 19.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 19.03sINFOros2_control_nodeReceived & accepted new action goal[0m + 19.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 19.07sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 20.16sINFOobjective_server_nodeFound path in 7 iterations (0.00587566 s). + 20.22sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 20.23sINFOros2_control_node[2026-06-03 15:06:33.567] [info] Received new action goal + 20.23sINFOros2_control_node[2026-06-03 15:06:33.568] [info] Accepted new action goal | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 2 errors · 66 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00229123 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.19sINFOros2_control_node[2026-06-03 15:03:46.918] [info] Received new action goal + 0.19sINFOros2_control_node[2026-06-03 15:03:46.918] [info] Accepted new action goal + 0.63sINFOros2_control_node[2026-06-03 15:03:47.360] [info] Received new action goal + 0.64sINFOros2_control_node[2026-06-03 15:03:47.360] [info] Accepted new action goal + 1.59sINFOros2_control_node[2026-06-03 15:03:48.313] [info] Got request to cancel active goal. + 1.59sINFOros2_control_node[2026-06-03 15:03:48.313] [info] Canceling active goal... + 1.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780499028.33090067 seconds ×2 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.62sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.21sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780499028.93489480 seconds. ×2 + 2.25sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.25sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.25sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.25sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 2.36sINFOros2_control_node[2026-06-03 15:03:49.088] [info] Received new action goal + 2.36sINFOros2_control_node[2026-06-03 15:03:49.088] [info] Accepted new action goal + 4.73sINFOros2_control_node[2026-06-03 15:03:51.455] [info] Received new action goal + 4.73sINFOros2_control_node[2026-06-03 15:03:51.455] [info] Accepted new action goal + 13.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780499040.01851845 seconds ×2 + 13.90sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499040.62917113 seconds. ×2 + 13.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 13.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 13.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499040.69930220 seconds ×2 + 14.52sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499041.24270153 seconds. ×2 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 14.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.62sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Received new action goal + 14.62sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Accepted new action goal + 16.63sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499043.35285878 seconds ×2 + 17.18sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499043.90461659 seconds. ×2 + 17.28sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 17.29sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Received new action goal + 17.29sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Accepted new action goal + 17.36sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" | ||||
| ✓ 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 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.09sINFOros2_control_node[2026-06-03 15:04:54.444] [info] Received new action goal + 1.09sINFOros2_control_node[2026-06-03 15:04:54.444] [info] Accepted new action goal + 2.25sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780499095.60088229 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780499096.30330944 seconds. ×2 + 3.19sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.20sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 4.16sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.18sINFOros2_control_node[2026-06-03 15:04:57.526] [info] Received new action goal + 4.18sINFOros2_control_node[2026-06-03 15:04:57.526] [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 + 10.24sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 10.25sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.26sINFOros2_control_node[2026-06-03 15:05:03.608] [info] Received new action goal + 10.26sINFOros2_control_node[2026-06-03 15:05:03.608] [info] Accepted new action goal + 13.86sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780499107.21345186 seconds ×2 + 14.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780499107.78136110 seconds. ×2 + 14.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 14.59sINFOobjective_server_nodePath shortcutter: [X___X] + 14.60sINFOros2_control_node[2026-06-03 15:05:07.954] [info] Received new action goal + 14.60sINFOros2_control_node[2026-06-03 15:05:07.954] [info] Accepted new action goal + 14.78sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.78sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 15.87sINFOobjective_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 + 15.87sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 23 errors · 2 warnings · 140 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499278.31556797 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499278.94579387 seconds. ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m + 1.36sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 1.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499279.74591160 seconds ×2 + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499280.29498386 seconds. ×2 + 1.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 1.98sINFOobjective_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 + 1.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499280.29643750 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg" + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg"[0m + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499280.83820295 seconds. ×2 + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499280.83872676 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String) + 2.88sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499281.39486003 seconds. ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780499283.59498119 seconds ×2 + 5.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 10.66sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.66sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.66sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.66sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.66sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.66sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.66sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.66sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.66sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.66sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.66sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.67sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 10.67sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 10.68sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 10.68sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 10.69sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 10.69sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 10.70sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 10.71sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 10.71sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 10.72sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 10.73sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 10.74sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 10.75sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 10.75sINFOcontroller_managerShutdown request received.... + 10.75sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.75sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.75sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.75sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.75sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.75sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.75sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 10.75sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.75sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.75sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.75sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.75sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.75sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.75sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.75sINFOcontroller_managerShutting down the controller manager. + 10.75sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 10.75sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 10.75sERRORui_teleop_bridgeTraceback (most recent call last): + 10.75sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 10.75sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 10.75sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main + 10.75sINFOui_teleop_bridgerclpy.shutdown() + 10.75sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 10.75sINFOui_teleop_bridge_shutdown(context=context) + 10.75sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 10.75sINFOui_teleop_bridgereturn context.shutdown() + 10.75sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 10.75sINFOui_teleop_bridgeself.__context.shutdown() + 10.75sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 10.75sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.75sINFOros2_control_nodeShutdown request received....[0m + 10.75sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 10.75sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 10.75sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 10.75sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 10.75sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 10.75sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 10.75sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 10.75sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 10.75sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 10.75sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 10.75sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 10.75sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 10.75sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 10.75sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 10.75sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 10.75sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 10.75sINFOros2_control_nodeShutting down the controller manager.[0m + 10.80sINFOobjective_server_node[0;m[2026-06-03 15:08:09.115] [moveit_pro_license] [info] + 10.80sINFOobjective_server_node************************************************* ×2 + 10.80sINFOobjective_server_node* MoveIt Pro License + 10.80sINFOobjective_server_node* Application has successfully terminated + 10.89sERRORobjective_server_nodeStack trace (most recent call last): + 10.89sINFOweb_video_server-20process has finished cleanly [pid 25208] + 10.90sINFOtf2_web_republisher_node-19process has finished cleanly [pid 25205] + 10.90sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 10.90sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 10.90sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 10.90sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5573711514e4, in _start + 10.90sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbe9fff5e3f, in __libc_start_main + 10.90sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbe9fff5d96, in + 10.91sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbea001160f, in exit + 10.91sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbea0011494, in + 10.91sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fbea0498251, in spdlog::details::registry::~registry() + 10.91sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fbea04a2e66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() + 10.91sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557371156cba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 10.91sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557371153bf3, in spdlog_ros::RosSink::~RosSink() + 10.91sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557371158e01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 10.91sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbea098fb2e, in rclcpp::Node::~Node() + 10.91sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbea096ad39, in + 10.91sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbea09990b9, in + 10.91sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbea0999000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 10.91sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbea096ad39, in + 10.91sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fbea096fb31, in rclcpp::CallbackGroup::~CallbackGroup() + 10.91sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fbe4ffe93f0]) + 10.93sERRORui_teleop_bridge-17process has died [pid 25200, 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_udo27vqb']. + 10.94sINFOfoxglove_bridgeShutdown complete[0m + 10.94sINFOexecute_objective_bridge-16process has finished cleanly [pid 25195] + 11.45sERRORobjective_server_node_main-14process has died [pid 25186, 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_ib4sdgl_ --params-file /tmp/launch_params_6r41e1an --params-file /tmp/launch_params_a0c14yxv --params-file /tmp/launch_params_zs4k4djp --params-file /tmp/launch_params_7zpb4nm_ --params-file /tmp/launch_params_7ngyq7t8']. + 11.46sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 11.75sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 25184] + 11.75sINFOmove_joint_resampler_node-12process has finished cleanly [pid 25182] + 11.77sINFOparameter_manager_node-10process has finished cleanly [pid 25142] + 11.79sINFOwaypoint_manager_node-11process has finished cleanly [pid 25180] + 11.89sINFOcomponent_container_mt-15process has finished cleanly [pid 25188] + 12.06sINFOmove_group-9process has finished cleanly [pid 25138] + 12.85sINFOfoxglove_bridge-18process has finished cleanly [pid 25202] + 12.85sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system + 12.99sINFOros2_control_node-1process has finished cleanly [pid 25119] | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.2s | 2 errors · 72 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 1.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780499223.23308635 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780499223.95573616 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×3 + 2.00sINFOobjective_server_nodePath shortcutter: [X______X] + 2.03sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.03sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.03sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.03sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 2.04sINFOros2_control_node[2026-06-03 15:07:04.199] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-03 15:07:04.199] [info] Accepted new action goal + 5.56sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/pcd_pointcloud_captures" + 5.56sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/pcd_pointcloud_captures"[0m + 6.06sINFOfoxglove_bridgeRemoving channel 75 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.07sINFOfoxglove_bridgeRemoving channel 75 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 7.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.19sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 7.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.45sINFOobjective_server_nodePath shortcutter: [X___________X] + 7.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 7.46sINFOobjective_server_nodePath shortcutter: [X_________________X] + 7.47sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 7.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 7.51sINFOobjective_server_nodeFound path in 1 iterations (0.00198262 s). + 7.58sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 7.58sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m + 7.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 7.60sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 7.62sINFOros2_control_node[2026-06-03 15:07:09.782] [info] Received new action goal + 7.62sINFOros2_control_node[2026-06-03 15:07:09.782] [info] Accepted new action goal + 10.15sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Received new action goal + 10.15sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 11.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 11.91sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 11.91sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 12.26sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 12.26sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 12.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 12.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 13.05sINFOobjective_server_nodePath shortcutter: [X________X] + 13.06sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 13.06sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 13.15sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.15sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 13.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 2 errors · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 0.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 1.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 1.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 1.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 2.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 2.54sINFOobjective_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 + 2.62sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 2.62sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.63sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 2.63sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 4.58sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 4.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 5.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.13sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 5.13sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 8.91sINFOros2_control_node[2026-06-03 15:02:42.211] [info] Received new action goal + 8.91sINFOros2_control_node[2026-06-03 15:02:42.211] [info] Accepted new action goal + 12.20sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 12.20sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.21sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Received new action goal + 12.21sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Accepted new action goal + 13.01sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Got request to cancel active goal. + 13.01sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Canceling active goal... + 13.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498966.33268166 seconds ×2 + 13.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498966.88784647 seconds. ×2 + 13.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498967.00797224 seconds ×2 + 14.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498967.64818692 seconds. ×2 + 14.65sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.65sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.49sINFOobjective_server_nodePath shortcutter: [X______X] + 15.51sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Received new action goal + 15.51sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 4 errors · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal + 10.59sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 10.59sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 11.09sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 11.09sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 12.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.40sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 12.60sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 12.60sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 12.65sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 12.65sINFOobjective_server_nodePath shortcutter: [X__________X] + 12.65sINFOobjective_server_nodeFound path in 0 iterations (1e-07 s). + 12.66sINFOobjective_server_nodePath shortcutter: [X________________X] + 12.66sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 12.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 12.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 12.71sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 12.72sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 12.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 12.76sINFOobjective_server_nodeFound path in 1 iterations (0.00194554 s). + 12.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 12.85sINFOobjective_server_nodeFound path in 1 iterations (0.00269101 s). + 12.91sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 12.92sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 12.98sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 13.02sINFOros2_control_node[2026-06-03 15:03:37.253] [info] Received new action goal + 13.02sINFOros2_control_node[2026-06-03 15:03:37.253] [info] Accepted new action goal + 13.19sINFOros2_control_node[2026-06-03 15:03:37.419] [info] Got request to cancel active goal. + 13.19sINFOros2_control_node[2026-06-03 15:03:37.419] [info] Canceling active goal... + 13.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780499017.42510414 seconds ×2 + 13.65sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.003 of wall time (30/21710). Below 1% is expected on a non-realtime system.[0m + 13.79sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780499018.02335024 seconds. ×2 + 13.98sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 13.99sINFOros2_control_node[2026-06-03 15:03:38.218] [info] Received new action goal + 13.99sINFOros2_control_node[2026-06-03 15:03:38.218] [info] Accepted new action goal + 14.14sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.14sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.14sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.14sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 4 errors · 107 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 0.50sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.50sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.81sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 2.01sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 2.01sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 2.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 2.06sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 2.07sINFOobjective_server_nodeFound path in 0 iterations (1e-07 s). ×2 + 2.07sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 2.07sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 2.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 2.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 2.13sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 2.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 2.17sINFOobjective_server_nodeFound path in 1 iterations (0.00194554 s). + 2.24sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 2.26sINFOobjective_server_nodeFound path in 1 iterations (0.00269101 s). + 2.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 2.33sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 2.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 2.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 2.44sINFOros2_control_node[2026-06-03 15:03:37.253] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-03 15:03:37.253] [info] Accepted new action goal + 2.60sINFOros2_control_node[2026-06-03 15:03:37.419] [info] Got request to cancel active goal. + 2.60sINFOros2_control_node[2026-06-03 15:03:37.419] [info] Canceling active goal... + 2.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780499017.42510414 seconds ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.07sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 1:10.003 of wall time (30/21710). Below 1% is expected on a non-realtime system.[0m + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780499018.02335024 seconds. ×2 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] + 3.40sINFOros2_control_node[2026-06-03 15:03:38.218] [info] Received new action goal + 3.40sINFOros2_control_node[2026-06-03 15:03:38.218] [info] Accepted new action goal + 3.56sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.56sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.56sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.56sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 8.59sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution" + 8.59sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/solution"[0m + 8.82sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 8.86sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 8.89sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 8.93sINFOobjective_server_nodeFound path in 1 iterations (0.00218139 s). + 9.01sINFOobjective_server_nodeFound path in 1 iterations (0.00287083 s). + 9.18sINFOros2_control_node[2026-06-03 15:03:43.998] [info] Received new action goal + 9.18sINFOros2_control_node[2026-06-03 15:03:43.998] [info] Accepted new action goal + 11.91sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 11.91sINFOobjective_server_nodePath shortcutter: [X_X] + 11.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 11.92sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 11.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 11.97sINFOobjective_server_nodeFound path in 1 iterations (0.00229123 s). + 12.05sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 12.10sINFOros2_control_node[2026-06-03 15:03:46.918] [info] Received new action goal + 12.10sINFOros2_control_node[2026-06-03 15:03:46.918] [info] Accepted new action goal + 12.54sINFOros2_control_node[2026-06-03 15:03:47.360] [info] Received new action goal + 12.54sINFOros2_control_node[2026-06-03 15:03:47.360] [info] Accepted new action goal + 13.50sINFOros2_control_node[2026-06-03 15:03:48.313] [info] Got request to cancel active goal. + 13.50sINFOros2_control_node[2026-06-03 15:03:48.313] [info] Canceling active goal... + 13.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780499028.33090067 seconds ×2 + 14.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780499028.93489480 seconds. ×2 + 14.15sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.15sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.16sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.16sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.26sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 14.27sINFOros2_control_node[2026-06-03 15:03:49.088] [info] Received new action goal + 14.27sINFOros2_control_node[2026-06-03 15:03:49.088] [info] Accepted new action goal + 16.64sINFOros2_control_node[2026-06-03 15:03:51.455] [info] Received new action goal + 16.64sINFOros2_control_node[2026-06-03 15:03:51.455] [info] Accepted new action goal | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.8s | 4 errors · 38 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 2.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X________X] + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 13.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780499245.31984210 seconds ×2 + 13.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780499245.86463904 seconds. ×2 + 13.58sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.58sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.75sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.77sINFOros2_control_node[2026-06-03 15:07:26.081] [info] Received new action goal + 13.77sINFOros2_control_node[2026-06-03 15:07:26.081] [info] Accepted new action goal | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 2 errors · 64 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780498994.92834020 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780498995.50833678 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780498995.58846641 seconds ×2 + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780498996.20923424 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Accepted new action goal + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [info] Accepted new action goal + 8.80sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.83sINFOros2_control_node[2026-06-03 15:03:21.988] [info] Received new action goal + 8.83sINFOros2_control_node[2026-06-03 15:03:21.988] [info] Accepted new action goal + 11.17sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 11.17sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 13.24sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 13.24sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 13.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 13.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 14.10sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 14.10sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 14.10sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 14.10sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 14.99sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 15.00sINFOobjective_server_nodePath shortcutter: [X______X] + 15.00sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 15.00sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 4 errors · 2 warnings · 76 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499266.31722307 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499266.94571447 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499267.02584457 seconds ×2 + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499267.56808019 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: 1780499267.59015727 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499268.14120030 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Accepted new action goal + 5.23sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.24sINFOros2_control_node[2026-06-03 15:07:51.554] [info] Received new action goal + 5.24sINFOros2_control_node[2026-06-03 15:07:51.554] [info] Accepted new action goal + 5.24sINFOros2_control_node[2026-06-03 15:07:51.554] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 11.99sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Got request to cancel active goal. + 12.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Canceling active goal... + 12.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499278.31556797 seconds ×2 + 12.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499278.94579387 seconds. ×2 + 12.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 12.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m + 13.35sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 13.36sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 13.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499279.74591160 seconds ×2 + 13.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 13.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 13.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499280.29498386 seconds. ×2 + 13.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 13.98sINFOobjective_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 + 13.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 13.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499280.29643750 seconds ×2 + 14.36sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.36sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg" + 14.36sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.36sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg"[0m + 14.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499280.83820295 seconds. ×2 + 14.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499280.83872676 seconds ×2 + 14.87sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String) + 14.87sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499281.39486003 seconds. ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.6s | 2 errors · 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780499255.67637157 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.55sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780499256.22702622 seconds. ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.67sINFOros2_control_node[2026-06-03 15:07:36.350] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-03 15:07:36.350] [info] Accepted new action goal + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/preview_solution" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/preview_solution"[0m + 2.21sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 5:10.011 of wall time (201/95554). Below 1% is expected on a non-realtime system.[0m + 2.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780499266.31722307 seconds ×2 + 11.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499266.94571447 seconds. ×2 + 11.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499267.02584457 seconds ×2 + 11.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499267.56808019 seconds. ×2 + 11.91sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 11.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780499267.59015727 seconds ×2 + 12.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499268.14120030 seconds. ×2 + 12.57sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 12.57sINFOobjective_server_nodePath shortcutter: [X___X] + 12.58sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Received new action goal + 12.58sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Accepted new action goal | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780499245.31984210 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780499245.86463904 seconds. ×2 + 0.58sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.58sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.76sINFOros2_control_node[2026-06-03 15:07:26.081] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-03 15:07:26.081] [info] Accepted new action goal + 4.77sINFOros2_control_node[2026-06-03 15:07:30.093] [info] Received new action goal + 4.77sINFOros2_control_node[2026-06-03 15:07:30.093] [info] Accepted new action goal + 10.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780499255.67637157 seconds ×2 + 10.91sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780499256.22702622 seconds. ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 11.02sINFOobjective_server_nodePath shortcutter: [X________X] + 11.03sINFOros2_control_node[2026-06-03 15:07:36.350] [info] Received new action goal + 11.03sINFOros2_control_node[2026-06-03 15:07:36.350] [info] Accepted new action goal + 11.17sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/preview_solution" + 11.17sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/preview_solution"[0m + 12.57sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 5:10.011 of wall time (201/95554). Below 1% is expected on a non-realtime system.[0m + 12.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.3s | 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499040.62917113 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499040.69930220 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499041.24270153 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Accepted new action goal + 2.72sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499043.35285878 seconds ×2 + 3.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499043.90461659 seconds. ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 3.39sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Accepted new action goal + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m + 7.81sINFOobjective_server_node[0;93m2026-06-03 15:04:08.438014849 [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 + 7.81sINFOobjective_server_node[0;93m2026-06-03 15:04:08.438051020 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.36sINFOobjective_server_node[0;93m2026-06-03 15:04:08.985400637 [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 + 8.36sINFOobjective_server_node[0;93m2026-06-03 15:04:08.985437648 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.47sINFOobjective_server_node[0;93m2026-06-03 15:04:09.096129785 [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 + 8.47sINFOobjective_server_node[0;93m2026-06-03 15:04:09.098680533 [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 + 8.47sINFOobjective_server_node[0;93m2026-06-03 15:04:09.098714754 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.74sINFOobjective_server_node[0;93m2026-06-03 15:04:09.371509033 [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 + 8.75sINFOobjective_server_node[0;93m2026-06-03 15:04:09.383800090 [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 + 8.76sINFOobjective_server_node[0;93m2026-06-03 15:04:09.383829931 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.07sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499050.69830441 seconds ×2 + 10.50sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 10.50sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 10.66sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499051.29282570 seconds. ×2 + 11.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.01sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 11.01sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.15sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778767659 [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 + 11.15sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778798789 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.65sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274497512 [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 + 11.65sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274529703 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.75sINFOobjective_server_node[0;93m2026-06-03 15:04:12.374332489 [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 + 11.75sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376294481 [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 + 11.75sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376315262 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.05sINFOobjective_server_node[0;93m2026-06-03 15:04:12.676777968 [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 + 12.07sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696539404 [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 + 12.07sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696577515 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499053.60767746 seconds ×2 + 13.02sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 13.03sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 13.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499054.32072687 seconds. ×2 + 13.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 13.77sINFOobjective_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 + 13.78sINFOobjective_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 + 14.03sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 14.03sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 14.03sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 14.03sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 14.04sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 14.04sINFOobjective_server_nodePath shortcutter: [X____________X] + 14.07sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Received new action goal + 14.07sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Accepted new action goal | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 2.9s | 62 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-03 15:04:08.438014849 [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 15:04:08.438051020 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.55sINFOobjective_server_node[0;93m2026-06-03 15:04:08.985400637 [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 + 0.55sINFOobjective_server_node[0;93m2026-06-03 15:04:08.985437648 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.66sINFOobjective_server_node[0;93m2026-06-03 15:04:09.096129785 [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 + 0.66sINFOobjective_server_node[0;93m2026-06-03 15:04:09.098680533 [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 + 0.66sINFOobjective_server_node[0;93m2026-06-03 15:04:09.098714754 [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 15:04:09.371509033 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.95sINFOobjective_server_node[0;93m2026-06-03 15:04:09.383800090 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.95sINFOobjective_server_node[0;93m2026-06-03 15:04:09.383829931 [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: 1780499050.69830441 seconds ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.85sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499051.29282570 seconds. ×2 + 3.20sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.20sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.20sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.20sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.34sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778767659 [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 + 3.34sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778798789 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.84sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274497512 [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 + 3.84sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274529703 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.94sINFOobjective_server_node[0;93m2026-06-03 15:04:12.374332489 [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 + 3.94sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376294481 [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 + 3.94sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376315262 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.24sINFOobjective_server_node[0;93m2026-06-03 15:04:12.676777968 [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 + 4.26sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696539404 [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 + 4.26sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696577515 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.17sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499053.60767746 seconds ×2 + 5.22sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 5.22sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 5.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499054.32072687 seconds. ×2 + 5.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.89sINFOros2_control_nodeReceived & accepted new action goal[0m + 5.96sINFOobjective_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 + 5.97sINFOobjective_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 + 6.22sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.22sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 6.22sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.22sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.26sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Received new action goal + 6.26sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Accepted new action goal + 9.11sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 9.12sINFOros2_control_node[2026-06-03 15:04:17.554] [info] Received new action goal + 9.12sINFOros2_control_node[2026-06-03 15:04:17.554] [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: 1780499040.01851845 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499040.62917113 seconds. ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499040.69930220 seconds ×2 + 1.22sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499041.24270153 seconds. ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 1.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.33sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Received new action goal + 1.33sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Accepted new action goal + 3.33sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499043.35285878 seconds ×2 + 3.89sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499043.90461659 seconds. ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 4.00sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Received new action goal + 4.00sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Accepted new action goal + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 37 errors · 29 warnings · 260 info |
+ 0.00sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.02sINFOcontroller_managerupdate rate is 600 Hz + 0.02sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.02sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.02sWARNcontroller_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. + 0.02sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.02sWARNros2_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 + 0.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.02sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller_nav2'. + 0.02sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller_nav2'.[0m + 0.02sFATALspawner_platform_velocity_controller_nav2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOobjective_server_node[2026-06-03 15:02:27.928] [moveit_pro_license] [info] + 0.08sINFOobjective_server_node************************************************* ×2 + 0.08sINFOobjective_server_node* MoveIt Pro License + 0.08sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.08sERRORcontroller_managerThe 'type' param was not defined for 'platform_velocity_controller'. + 0.08sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' ×2 + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. ×2 + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. ×2 + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. ×2 + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. ×2 + 0.08sERRORros2_control_nodeThe 'type' param was not defined for 'platform_velocity_controller'.[0m + 0.08sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.08sFATALspawner_platform_velocity_controller[91mFailed loading controller [1mplatform_velocity_controller[0m + 0.08sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.08sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.22sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.22sWARNspawner_joint_state_broadcaster[93mController already loaded, skipping load_controller[0m + 0.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.23sINFOcontroller_managerLoading controller 'joint_velocity_controller' ×2 + 0.23sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.29sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.29sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.32sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.32sWARNspawner_force_torque_sensor_broadcaster[93mController already loaded, skipping load_controller[0m + 0.32sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[93mController already loaded, skipping load_controller[0m + 0.34sERRORcontroller_managerThe 'type' param was not defined for 'vacuum_gripper'. + 0.34sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.34sERRORros2_control_nodeThe 'type' param was not defined for 'vacuum_gripper'.[0m + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.34sFATALspawner_vacuum_gripper[91mFailed loading controller [1mvacuum_gripper[0m + 0.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.37sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.37sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_joint_velocity_controller'. + 0.37sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.37sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_joint_velocity_controller'.[0m + 0.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.37sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.37sFATALspawner_arm_only_joint_velocity_controller[91mFailed loading controller [1marm_only_joint_velocity_controller[0m + 0.37sINFOros2_control_node[2026-06-03 15:02:28.224] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.37sINFOros2_control_node[2026-06-03 15:02:28.224] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.39sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/camera_info" + 0.39sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/camera_info"[0m + 0.40sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth" + 0.40sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/depth" + 0.40sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/color" + 0.40sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/depth"[0m + 0.40sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/depth"[0m + 0.40sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/color"[0m + 0.40sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/robotiq_gripper_controller/transition_event" + 0.40sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.41sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/statistics" + 0.41sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/statistics"[0m + 0.41sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/points" + 0.41sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_velocity_controller/transition_event" + 0.41sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color" + 0.41sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.41sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_state_broadcaster/transition_event" + 0.41sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.41sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/wrist_camera/points"[0m + 0.41sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/joint_velocity_controller/transition_event"[0m + 0.41sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m + 0.41sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 0.41sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_state_broadcaster/transition_event"[0m + 0.41sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.41sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/failure_reason_collector" + 0.41sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/failure_reason_collector"[0m + 0.41sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/dynamic_joint_states" + 0.41sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/dynamic_joint_states"[0m + 0.42sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description" + 0.42sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points" + 0.42sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/camera_info" + 0.42sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/transition_event" + 0.42sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description"[0m + 0.42sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points"[0m + 0.42sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/camera_info"[0m + 0.42sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/transition_event"[0m + 0.43sINFOobjective_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. + 0.43sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.45sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.45sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.46sINFOros2_control_node[2026-06-03 15:02:28.314] [info] First order lag filter time constant set to: 0.2 seconds + 0.46sINFOros2_control_node[2026-06-03 15:02:28.314] [info] Controller state will be published at 50 Hz. + 0.47sINFOros2_control_node[2026-06-03 15:02:28.321] [info] Registered `FollowJointTrajectory` action server. + 0.47sERRORcontroller_managerThe 'type' param was not defined for 'arm_only_velocity_force_controller'. + 0.47sERRORros2_control_nodeThe 'type' param was not defined for 'arm_only_velocity_force_controller'.[0m + 0.47sERRORcontroller_managerA controller named 'joint_velocity_controller' was already loaded inside the controller manager + 0.47sFATALspawner_arm_only_velocity_force_controller[91mFailed loading controller [1marm_only_velocity_force_controller[0m + 0.47sERRORcontroller_managerA controller named 'joint_trajectory_controller' was already loaded inside the controller manager + 0.47sFATALspawner_joint_velocity_controller[91mFailed loading controller [1mjoint_velocity_controller[0m + 0.48sERRORros2_control_nodeA controller named 'joint_velocity_controller' was already loaded inside the controller manager[0m + 0.48sERRORros2_control_nodeA controller named 'joint_trajectory_controller' was already loaded inside the controller manager[0m + 0.48sERRORcontroller_managerThe 'type' param was not defined for 'imu_sensor_broadcaster'. + 0.48sINFOcontroller_managerLoading controller 'velocity_force_controller' ×2 + 0.48sFATALspawner_joint_trajectory_controller[91mFailed loading controller [1mjoint_trajectory_controller[0m + 0.48sFATALspawner_imu_sensor_broadcaster[91mFailed loading controller [1mimu_sensor_broadcaster[0m + 0.48sERRORros2_control_nodeThe 'type' param was not defined for 'imu_sensor_broadcaster'.[0m + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.58sERRORcontroller_managerA controller named 'velocity_force_controller' was already loaded inside the controller manager + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sFATALspawner_velocity_force_controller[91mFailed loading controller [1mvelocity_force_controller[0m + 0.58sERRORros2_control_nodeA controller named 'velocity_force_controller' was already loaded inside the controller manager[0m + 0.58sFATALros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[91mFailed loading controller [1mvelocity_force_controller[0m + 0.58sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.58sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.63sINFOros2_control_node[2026-06-03 15:02:28.480] [info] Controller state will be published at 20 Hz. + 0.63sINFOros2_control_node[2026-06-03 15:02:28.481] [info] JointVelocityController 'on_configure' succeeded. + 0.63sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' ×2 + 0.63sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.64sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.64sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.64sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.64sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.64sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.64sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.64sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.64sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.64sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.64sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.64sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.65sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.65sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.65sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.70sINFOros2_control_node[2026-06-03 15:02:28.552] [info] Controller state will be published at 10 Hz. + 0.70sINFOros2_control_node[2026-06-03 15:02:28.553] [info] VelocityForceController 'on_configure' succeeded. + 0.70sWARNcontroller_managerController with name 'joint_state_broadcaster' is not inactive so its following controllers do not have to be checked, because it cannot be activated. + 0.70sWARNcontroller_managerCould not activate controller with name 'joint_state_broadcaster'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information. + 0.70sERRORcontroller_managerAborting, no controller is switched! (::STRICT switch) ×2 + 0.71sWARNros2_control_nodeController with name 'joint_state_broadcaster' is not inactive so its following controllers do not have to be checked, because it cannot be activated.[0m + 0.71sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.71sERRORspawner_joint_state_broadcaster[91mFailed to activate controller : joint_state_broadcaster[0m + 0.71sWARNros2_control_nodeCould not activate controller with name 'joint_state_broadcaster'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information.[0m + 0.71sWARNcontroller_managerController with name 'force_torque_sensor_broadcaster' is not inactive so its following controllers do not have to be checked, because it cannot be activated. + 0.71sWARNcontroller_managerCould not activate controller with name 'force_torque_sensor_broadcaster'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information. + 0.71sERRORros2_control_nodeAborting, no controller is switched! (::STRICT switch)[0m ×2 + 0.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.71sWARNros2_control_nodeController with name 'force_torque_sensor_broadcaster' is not inactive so its following controllers do not have to be checked, because it cannot be activated.[0m + 0.71sWARNros2_control_nodeCould not activate controller with name 'force_torque_sensor_broadcaster'. Check above warnings for more details. Check the state of the controllers and their required interfaces using `ros2 control list_controllers -v` CLI to get more information.[0m + 0.71sERRORspawner_force_torque_sensor_broadcaster[91mFailed to activate controller : force_torque_sensor_broadcaster[0m + 0.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.71sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[91mFailed to activate controller : force_torque_sensor_broadcaster[0m + 0.72sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 25129] + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ros2run]: Process exited with failure 1 + 0.88sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has died [pid 25132, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 0.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 25135] + 0.96sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 0.97sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.97sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.99sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.02sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 25125] + 1.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.06sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 25121, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 25127] + 1.06sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 25123] + 1.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.15sINFOmove_group ×2 + 1.15sINFOmove_group[92mYou can start planning now![0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command" + 1.28sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state" + 1.28sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state"[0m + 1.28sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 1.29sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.29sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state" + 1.29sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command" + 1.29sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state"[0m + 1.29sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command"[0m + 1.29sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory" + 1.29sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.30sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers" + 1.30sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers"[0m + 1.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 1.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 1.30sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 1.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state" + 1.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents" + 1.30sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.30sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state"[0m + 1.30sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents"[0m + 1.31sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status" + 1.31sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status"[0m + 1.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498950.10507178 seconds. ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498950.11524582 seconds ×2 + 2.47sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.47sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498950.65738678 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.99sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498951.71751237 seconds ×2 + 4.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 seconds. ×2 + 5.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 seconds ×2 + 5.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498953.84211373 seconds. ×2 + 6.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 6.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 7.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 7.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 7.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 7.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 8.07sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 8.07sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.08sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 8.08sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 92 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event"[0m + 0.00sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state" + 0.01sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 0.01sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state" + 0.01sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command" + 0.01sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/controller_state"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/command"[0m + 0.01sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory" + 0.01sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers" + 0.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state" + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents" + 0.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/state"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/blackboard_contents"[0m + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status" + 0.03sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/behavior_tree_status"[0m + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780498950.10507178 seconds. ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780498950.11524582 seconds ×2 + 1.20sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.20sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780498950.65738678 seconds. ×2 + 1.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.72sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780498951.71751237 seconds ×2 + 3.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 seconds. ×2 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780498953.30184078 seconds ×2 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780498953.84211373 seconds. ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 6.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 6.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 6.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 6.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 6.80sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.80sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 6.80sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 2 errors · 2 warnings · 40 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499278.31556797 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499278.94579387 seconds. ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m + 1.36sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 1.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499279.74591160 seconds ×2 + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499280.29498386 seconds. ×2 + 1.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 1.98sINFOobjective_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 + 1.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499280.29643750 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg" + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg"[0m + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499280.83820295 seconds. ×2 + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499280.83872676 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String) + 2.88sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499281.39486003 seconds. ×2 | ||||
| ✓ 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: 1780499040.01851845 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499040.62917113 seconds. ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499040.69930220 seconds ×2 + 1.22sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499041.24270153 seconds. ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 1.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.33sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Received new action goal + 1.33sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Accepted new action goal + 3.33sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499043.35285878 seconds ×2 + 3.89sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499043.90461659 seconds. ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 4.00sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Received new action goal + 4.00sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Accepted new action goal + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | 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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Canceling active goal... + 0.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498966.33268166 seconds ×2 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498966.88784647 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498967.00797224 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498967.64818692 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780498994.92834020 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780498995.50833678 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780498995.58846641 seconds ×2 + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780498996.20923424 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Accepted new action goal + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [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: 1780499266.31722307 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499266.94571447 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499267.02584457 seconds ×2 + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499267.56808019 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: 1780499267.59015727 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499268.14120030 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [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: 1780499266.31722307 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499266.94571447 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499267.02584457 seconds ×2 + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499267.56808019 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: 1780499267.59015727 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499268.14120030 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Accepted new action goal | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.5s | 2 errors · 2 warnings · 42 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499278.31556797 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499278.94579387 seconds. ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m + 1.36sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 1.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499279.74591160 seconds ×2 + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499280.29498386 seconds. ×2 + 1.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 1.98sINFOobjective_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 + 1.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499280.29643750 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg" + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg"[0m + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499280.83820295 seconds. ×2 + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499280.83872676 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String) + 2.88sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499281.39486003 seconds. ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780499283.59498119 seconds ×2 + 5.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ 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 15:07:58.311] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499278.31556797 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499278.94579387 seconds. ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m + 1.36sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 1.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499279.74591160 seconds ×2 + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499280.29498386 seconds. ×2 + 1.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 1.98sINFOobjective_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 + 1.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499280.29643750 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg" + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg"[0m + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499280.83820295 seconds. ×2 + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499280.83872676 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String) + 2.88sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499281.39486003 seconds. ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780499283.59498119 seconds ×2 + 5.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| − 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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Canceling active goal... + 0.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498966.33268166 seconds ×2 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498966.88784647 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498967.00797224 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498967.64818692 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Accepted new action goal | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.1s | 2 errors · 2 warnings · 40 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499278.31556797 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499278.94579387 seconds. ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m + 1.36sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 1.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499279.74591160 seconds ×2 + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499280.29498386 seconds. ×2 + 1.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 1.98sINFOobjective_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 + 1.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499280.29643750 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg" + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg"[0m + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499280.83820295 seconds. ×2 + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499280.83872676 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String) + 2.88sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499281.39486003 seconds. ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 2.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X________X] + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780498994.92834020 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780498995.50833678 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780498995.58846641 seconds ×2 + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780498996.20923424 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Accepted new action goal + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [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 + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780498994.92834020 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780498995.50833678 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780498995.58846641 seconds ×2 + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780498996.20923424 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Accepted new action goal + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [info] Accepted new action goal | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [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: 1780499040.62917113 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499040.69930220 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499041.24270153 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Accepted new action goal + 2.72sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499043.35285878 seconds ×2 + 3.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499043.90461659 seconds. ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 3.39sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Accepted new action goal + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | 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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Canceling active goal... + 0.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498966.33268166 seconds ×2 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498966.88784647 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498967.00797224 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498967.64818692 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Canceling active goal... + 0.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498966.33268166 seconds ×2 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498966.88784647 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498967.00797224 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498967.64818692 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Canceling active goal... + 0.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498966.33268166 seconds ×2 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498966.88784647 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498967.00797224 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498967.64818692 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Canceling active goal... + 0.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498966.33268166 seconds ×2 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498966.88784647 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498967.00797224 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498967.64818692 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [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 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.07sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Received new action goal + 0.08sINFOros2_control_node[2026-06-03 15:02:45.511] [info] Accepted new action goal + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Got request to cancel active goal. + 0.88sINFOros2_control_node[2026-06-03 15:02:46.308] [info] Canceling active goal... + 0.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780498966.33268166 seconds ×2 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780498966.88784647 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780498967.00797224 seconds ×2 + 2.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780498967.64818692 seconds. ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Received new action goal + 3.38sINFOros2_control_node[2026-06-03 15:02:48.808] [info] Accepted new action goal | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780498994.92834020 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780498995.50833678 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780498995.58846641 seconds ×2 + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780498996.20923424 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Accepted new action goal + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [info] Accepted new action goal | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-03 15:03:13.542] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780498994.92834020 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780498995.50833678 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780498995.58846641 seconds ×2 + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.53sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780498996.20923424 seconds. ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-03 15:03:16.319] [info] Accepted new action goal + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.53sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:03:19.662] [info] Accepted new action goal | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Accepted new action goal | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-03 15:03:24.340] [info] Accepted new action goal + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Got request to cancel active goal. + 2.18sINFOros2_control_node[2026-06-03 15:03:26.409] [info] Canceling active goal... + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780499006.42152095 seconds ×2 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780499007.02822232 seconds. ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-03 15:03:28.174] [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 (2.1e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00229123 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.19sINFOros2_control_node[2026-06-03 15:03:46.918] [info] Received new action goal + 0.19sINFOros2_control_node[2026-06-03 15:03:46.918] [info] Accepted new action goal + 0.63sINFOros2_control_node[2026-06-03 15:03:47.360] [info] Received new action goal + 0.64sINFOros2_control_node[2026-06-03 15:03:47.360] [info] Accepted new action goal + 1.59sINFOros2_control_node[2026-06-03 15:03:48.313] [info] Got request to cancel active goal. + 1.59sINFOros2_control_node[2026-06-03 15:03:48.313] [info] Canceling active goal... + 1.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780499028.33090067 seconds ×2 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.62sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.21sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780499028.93489480 seconds. ×2 + 2.25sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.25sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.25sINFOfoxglove_bridgeRemoving channel 64 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.25sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 2.36sINFOros2_control_node[2026-06-03 15:03:49.088] [info] Received new action goal + 2.36sINFOros2_control_node[2026-06-03 15:03:49.088] [info] Accepted new action goal + 4.73sINFOros2_control_node[2026-06-03 15:03:51.455] [info] Received new action goal + 4.73sINFOros2_control_node[2026-06-03 15:03:51.455] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 34 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780499040.01851845 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780499040.62917113 seconds. ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499040.69930220 seconds ×2 + 1.22sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499041.24270153 seconds. ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 1.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.33sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Received new action goal + 1.33sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Accepted new action goal + 3.33sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499043.35285878 seconds ×2 + 3.89sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499043.90461659 seconds. ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 4.00sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Received new action goal + 4.00sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Accepted new action goal + 4.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" | ||||
| − 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: 1780499040.62917113 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780499040.69930220 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780499041.24270153 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-03 15:04:01.345] [info] Accepted new action goal + 2.72sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780499043.35285878 seconds ×2 + 3.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780499043.90461659 seconds. ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 3.39sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-03 15:04:04.018] [info] Accepted new action goal + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view" + 3.46sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 52 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780499050.69830441 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499051.29282570 seconds. ×2 + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778767659 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778798789 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274497512 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274529703 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.374332489 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376294481 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376315262 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.98sINFOobjective_server_node[0;93m2026-06-03 15:04:12.676777968 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696539404 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696577515 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499053.60767746 seconds ×2 + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499054.32072687 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.70sINFOobjective_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 + 3.71sINFOobjective_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 + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Received new action goal + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Accepted new action goal + 6.85sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [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: 1780499050.69830441 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499051.29282570 seconds. ×2 + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778767659 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778798789 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274497512 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274529703 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.374332489 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376294481 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376315262 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.98sINFOobjective_server_node[0;93m2026-06-03 15:04:12.676777968 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696539404 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696577515 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499053.60767746 seconds ×2 + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499054.32072687 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.70sINFOobjective_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 + 3.71sINFOobjective_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 + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Received new action goal + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Accepted new action goal + 6.85sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [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: 1780499050.69830441 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499051.29282570 seconds. ×2 + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778767659 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778798789 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274497512 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274529703 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.374332489 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376294481 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376315262 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.98sINFOobjective_server_node[0;93m2026-06-03 15:04:12.676777968 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696539404 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696577515 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499053.60767746 seconds ×2 + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499054.32072687 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.70sINFOobjective_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 + 3.71sINFOobjective_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 + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Received new action goal + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Accepted new action goal + 6.85sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [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: 1780499050.69830441 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499051.29282570 seconds. ×2 + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778767659 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778798789 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274497512 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274529703 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.374332489 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376294481 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376315262 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.98sINFOobjective_server_node[0;93m2026-06-03 15:04:12.676777968 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696539404 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696577515 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499053.60767746 seconds ×2 + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499054.32072687 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.70sINFOobjective_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 + 3.71sINFOobjective_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 + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Received new action goal + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Accepted new action goal + 6.85sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [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: 1780499050.69830441 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 0.43sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 0.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780499051.29282570 seconds. ×2 + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.94sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.94sINFOfoxglove_bridgeRemoving channel 65 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778767659 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-03 15:04:11.778798789 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274497512 [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 + 1.58sINFOobjective_server_node[0;93m2026-06-03 15:04:12.274529703 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.374332489 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376294481 [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 + 1.68sINFOobjective_server_node[0;93m2026-06-03 15:04:12.376315262 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.98sINFOobjective_server_node[0;93m2026-06-03 15:04:12.676777968 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696539404 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:04:12.696577515 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780499053.60767746 seconds ×2 + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization" + 2.96sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/masks_visualization"[0m + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780499054.32072687 seconds. ×2 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.70sINFOobjective_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 + 3.71sINFOobjective_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 + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 3.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.96sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Received new action goal + 4.00sINFOros2_control_node[2026-06-03 15:04:14.696] [info] Accepted new action goal + 6.85sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-03 15:04:17.554] [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: 1780499107.21345186 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780499107.78136110 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X___X] + 0.74sINFOros2_control_node[2026-06-03 15:05:07.954] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-03 15:05:07.954] [info] Accepted new action goal + 0.92sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 0.92sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m + 2.01sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.01sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.06sINFOobjective_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 | 1050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×211 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×211 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×211 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×211 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×96 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×96 + 3.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780499176.38854289 seconds ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780499176.96958113 seconds. ×2 + 3.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.79sINFOros2_control_node[2026-06-03 15:06:17.133] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:06:17.133] [info] Accepted new action goal + 3.94sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 3.94sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 0.04sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.09sINFOobjective_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 + 0.50sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.50sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 0.88sERRORobjective_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 + 0.88sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780499191.74870253 seconds ×2 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.90sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.51sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780499192.37291408 seconds. ×2 + 1.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.51sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.54sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.55sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.53sINFOobjective_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 + 2.63sINFOobjective_server_nodeFound path in 7 iterations (0.00587566 s). + 2.69sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.70sINFOros2_control_node[2026-06-03 15:06:33.567] [info] Received new action goal + 2.71sINFOros2_control_node[2026-06-03 15:06:33.568] [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 + 1.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780499223.23308635 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780499223.95573616 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.00sINFOobjective_server_nodePath shortcutter: [X______X] + 2.03sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.03sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.03sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.03sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 2.04sINFOros2_control_node[2026-06-03 15:07:04.199] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-03 15:07:04.199] [info] Accepted new action goal | ||||
| − 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 + 1.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780499223.23308635 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780499223.95573616 seconds. ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.00sINFOobjective_server_nodePath shortcutter: [X______X] + 2.03sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.03sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 2.03sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.03sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 2.04sINFOros2_control_node[2026-06-03 15:07:04.199] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-03 15:07:04.199] [info] Accepted new action goal | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 2.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X________X] + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.82sINFOobjective_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 15:07:12.314] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 2.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X________X] + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.82sINFOobjective_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 15:07:12.314] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 2.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X________X] + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.82sINFOobjective_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 15:07:12.314] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 2.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X________X] + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.82sINFOobjective_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 15:07:12.314] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 2.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X________X] + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.82sINFOobjective_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 15:07:12.314] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 2.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X________X] + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.82sINFOobjective_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 15:07:12.314] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 2.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X________X] + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.82sINFOobjective_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 15:07:12.314] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-03 15:07:12.314] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Received new action goal + 1.76sINFOros2_control_node[2026-06-03 15:07:14.079] [info] Accepted new action goal + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Got request to cancel active goal. + 2.11sINFOros2_control_node[2026-06-03 15:07:14.426] [info] Canceling active goal... + 2.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780499234.44585562 seconds ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780499235.05953693 seconds. ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X________X] + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-03 15:07:15.222] [info] Accepted new action goal + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.00sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.82sINFOobjective_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: 1780499245.31984210 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780499245.86463904 seconds. ×2 + 0.58sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.58sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.76sINFOros2_control_node[2026-06-03 15:07:26.081] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-03 15:07:26.081] [info] Accepted new action goal | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 17 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780499255.67637157 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.55sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780499256.22702622 seconds. ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.67sINFOros2_control_node[2026-06-03 15:07:36.350] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-03 15:07:36.350] [info] Accepted new action goal + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/preview_solution" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/preview_solution"[0m + 2.21sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.21% of iterations over budget over 5:10.011 of wall time (201/95554). Below 1% is expected on a non-realtime system.[0m + 2.58sINFOobjective_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: 1780499266.31722307 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499266.94571447 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499267.02584457 seconds ×2 + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499267.56808019 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: 1780499267.59015727 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499268.14120030 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [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: 1780499266.31722307 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499266.94571447 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499267.02584457 seconds ×2 + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499267.56808019 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: 1780499267.59015727 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499268.14120030 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [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: 1780499266.31722307 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499266.94571447 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499267.02584457 seconds ×2 + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499267.56808019 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: 1780499267.59015727 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499268.14120030 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [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: 1780499266.31722307 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499266.94571447 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499267.02584457 seconds ×2 + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499267.56808019 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: 1780499267.59015727 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499268.14120030 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [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: 1780499266.31722307 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499266.94571447 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499267.02584457 seconds ×2 + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499267.56808019 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: 1780499267.59015727 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499268.14120030 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [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: 1780499266.31722307 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780499266.94571447 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780499267.02584457 seconds ×2 + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.74sINFOfoxglove_bridgeRemoving channel 77 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780499267.56808019 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: 1780499267.59015727 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780499268.14120030 seconds. ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.93sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-03 15:07:48.254] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 40 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:07:58.311] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780499278.31556797 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780499278.94579387 seconds. ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 0.85sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m + 1.36sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 1.37sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780499279.74591160 seconds ×2 + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.86sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780499280.29498386 seconds. ×2 + 1.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 1.98sINFOobjective_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 + 1.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780499280.29643750 seconds ×2 + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg" + 2.37sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.37sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/secret_msg"[0m + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780499280.83820295 seconds. ×2 + 2.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780499280.83872676 seconds ×2 + 2.87sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String) + 2.88sINFOfoxglove_bridgeRemoving channel 80 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780499281.39486003 seconds. ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives14 skip
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [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_text_prompt_subtree.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion20 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 | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [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 | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [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 | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [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 | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception2 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 14 info |
+ 0.00sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×14 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780498952.29167700 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: 1780498953.30184078 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: 1780498953.84211373 seconds. ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780498953.85449553 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780498954.41081023 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780498954.56129003 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780498955.20886183 seconds. ×2 + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780498955.26898050 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780498955.82606626 seconds. ×2 + 3.55sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4022e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Received new action goal + 3.64sINFOros2_control_node[2026-06-03 15:02:35.930] [info] Accepted new action goal + 5.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.001 of wall time (3/3157). Below 1% is expected on a non-realtime system.[0m + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Received new action goal + 6.14sINFOros2_control_node[2026-06-03 15:02:38.430] [info] Accepted new action goal | ||||