MoveIt Pro Objective Integration Tests

117

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

5.3s

Avg test time

Objective pass rate

Show INFO/DEBUG

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

31 fail53 skip

! error	Take Wrist Camera Snapshot	wrist_snap.xml	0.3s	no logs
No ROS log lines in this test's time window.
! error	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Pick April Tag Labeled Object	apriltag_pick_object.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Clear Previous Obstacles	clear_previous_obstacles.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Close Gripper	close_gripper.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Cycle Between Waypoints	cycle_between_waypoints.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Look at Table	look_at_table.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Move Flasks to Burners	move_flasks_to_burners.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Push Button	move_with_velocity_and_force.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Open Gripper	open_gripper.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Plan and Save Trajectory	plan_and_save_trajectory.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Playback Square Trajectory	playback_square_trajectory.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Save Robot Joint State	save_robot_joint_state.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Select Region and Cover	select_region_and_cover.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Stationary Admittance	stationary_admittance.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Take Scene Camera Snapshot	take_snap.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Vector and String Example	vector_and_string_example.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Visualize Grasp Link	visualize_grasp_link.xml	0.0s	no logs
No ROS log lines in this test's time window.
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Force Relaxation	force_relaxation.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Grasp Planning	grasp_planning.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Move Along Square	move_along_square.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Octomap Example	octomap_example.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick object	pick_object.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick up Object	pick_up_cube.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Place at Pose	place_at_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Place Object	place_object.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Register CAD Part	register_cad_part.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

3 fail8 skip

! error	—	clear_snapshot.xml	184.7s	69 errors · 30 warnings · 735 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/2026-07-30-09-54-37-351684-959e731b80c0-9019 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 1.45sINFOros2_control_node-1process started with pid [9067] + 1.45sINFOmove_group-9process started with pid [9104] + 1.45sINFOparameter_manager_node-10process started with pid [9105] + 1.45sINFOwaypoint_manager_node-11process started with pid [9106] + 1.45sINFOmove_joint_resampler_node-12process started with pid [9107] + 1.45sINFOmove_end_effector_resampler_node-13process started with pid [9108] + 1.45sINFOobjective_server_node_main-14process started with pid [9109] + 1.45sINFOcomponent_container_mt-15process started with pid [9110] + 1.45sINFOcomponent_container_mt-16process started with pid [9111] + 1.45sINFOexecute_objective_bridge-17process started with pid [9112] + 1.45sINFOui_teleop_bridge-18process started with pid [9113] + 1.45sINFOweb_bridge-19process started with pid [9114] + 1.45sINFOtf2_web_republisher_node-20process started with pid [9186] + 1.45sINFOvideo_server-21process started with pid [9193] + 1.45sINFOweb_bridge_auth_proxy-22process started with pid [9194] + 1.45sINFOweb_video_auth_proxy-23process started with pid [9195] + 1.45sINFOros2-2process started with pid [9068] + 1.45sINFOros2-3process started with pid [9069] + 1.45sINFOros2-4process started with pid [9070] + 1.45sINFOros2-5process started with pid [9071] + 1.45sINFOros2-6process started with pid [9072] + 1.46sINFOros2-7process started with pid [9073] + 1.46sINFOros2-8process started with pid [9074] + 1.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 1.48sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 1.48sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 1.48sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 1.48sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 1.48sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 1.48sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750362 ms (missed cycles : 4).[0m + 1.48sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 1.48sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 1.48sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 1.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 1.63sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 1.98sINFOvideo_server2026/07/30 09:54:39 INF MediaMTX v1.19.3, linux, amd64 + 1.99sINFOvideo_server2026/07/30 09:54:39 INF configuration loaded from /tmp/moveit-webrtc-84to6auh/mediamtx.yml + 1.99sINFOvideo_server2026/07/30 09:54:39 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) + 1.99sINFOvideo_server2026/07/30 09:54:39 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 2.22sINFOwaypoint_manager_node[2026-07-30 09:54:40.123] [moveit_pro_license] [info] + 2.22sINFOwaypoint_manager_node************************************************* ×6 + 2.22sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 2.22sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 2.30sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 2.45sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 2.45sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991549 ms (missed cycles : 2).[0m + 2.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 2.54sINFOmove_group[2026-07-30 09:54:40.450] [moveit_pro_license] [info] + 2.54sINFOmove_group************************************************* ×6 + 2.54sINFOmove_group* MoveIt Pro License ×3 + 2.54sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 2.85sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 2.91sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 2.91sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 2.91sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 2.91sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 2.92sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 2.92sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 2.92sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 2.99sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 3.07sINFOmove_group ×6 + 3.07sINFOmove_group[92mYou can start planning now![0m ×3 + 3.26sINFOobjective_server_node[2026-07-30 09:54:41.164] [moveit_pro_license] [info] + 3.26sINFOobjective_server_node************************************************* ×6 + 3.26sINFOobjective_server_node* MoveIt Pro License ×3 + 3.26sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 3.37sINFOobjective_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 + 3.37sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 3.38sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×3 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 3.38sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×3 + 3.38sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×3 + 3.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 3.79sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×3 + 3.79sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×3 + 3.79sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 3.79sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 3.79sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 3.79sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 3.79sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 3.79sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 3.80sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 3.80sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 3.86sWARNobjective_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/. ×3 + 3.88sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 4.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 4.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 4.08sINFOcomponent_container_mt[2026-07-30 09:54:41.990] [moveit_pro_license] [info] + 4.08sINFOcomponent_container_mt************************************************* ×6 + 4.08sINFOcomponent_container_mt* MoveIt Pro License ×3 + 4.08sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 4.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_99tnhp0g --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m8t2im2c --params-file /tmp/launch_params_ec_1n0ie [0m + 4.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 4.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 4.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 4.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 4.15sINFOros2_control_node[2026-07-30 09:54:42.061] [info] Controller state will be published at 20 Hz. + 4.15sINFOros2_control_node[2026-07-30 09:54:42.062] [info] JointVelocityController 'on_configure' succeeded. + 4.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328926 ms (missed cycles : 3).[0m + 4.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m + 4.46sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 4.50sINFOros2-8process has finished cleanly [pid 9074] + 4.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_99tnhp0g --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m8t2im2c --params-file /tmp/launch_params_ec_1n0ie [0m + 4.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m + 4.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m + 4.56sINFOros2_control_node[2026-07-30 09:54:42.466] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.56sINFOros2_control_node[2026-07-30 09:54:42.466] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.58sINFOros2_control_node[2026-07-30 09:54:42.488] [info] First order lag filter time constant set to: 0.2 seconds + 4.58sINFOros2_control_node[2026-07-30 09:54:42.488] [info] Controller state will be published at 50 Hz. + 4.58sINFOros2_control_node[2026-07-30 09:54:42.493] [info] Registered `FollowJointTrajectory` action server. + 4.64sERRORobjective_server_nodeterminate called after throwing an instance of 'BT::BehaviorTreeException' ×3 + 4.64sERRORobjective_server_nodewhat(): ID [GenerateCoveragePath] already registered ×3 + 4.64sERRORobjective_server_nodeStack trace (most recent call last): ×3 + 4.65sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×3 + 4.65sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f189a356a4, in _start + 4.65sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8debf1228a, in __libc_start_main + 4.66sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8debf121c9, in + 4.66sINFOobjective_server_node#12 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f189a35893, in main + 4.66sINFOobjective_server_node#11 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/libobjective_server_node.so", at 0x7f8dec6d44b1, in moveit_studio::objective_server::ObjectiveServerNode::ObjectiveServerNode(rclcpp::NodeOptions const&) + 4.66sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/libobjective_server_node.so", at 0x7f8dec734707, in moveit_studio::objective_server::ObjectiveServer::registerBehaviorLoaderPlugins(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&) + 4.68sINFOobjective_server_node#9 \| Source "/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim_behaviors/src/register_behaviors.cpp", line 27, in registerBehavior<lab_sim_behaviors::GenerateCoveragePath> + 4.68sINFOobjective_server_node\| 25: moveit_pro::behaviors::registerBehavior<ComputeTrayPlacePositionsUsingAprilTags>( + 4.68sINFOobjective_server_node\| 26: factory, "ComputeTrayPlacePositionsUsingAprilTags", shared_resources); + 4.68sINFOobjective_server_node[35m \| > 27: moveit_pro::behaviors::registerBehavior<GenerateCoveragePath>(factory, "GenerateCoveragePath", shared_resources); + 4.68sINFOobjective_server_node[39m \| 28: moveit_pro::behaviors::registerBehavior<GetMask2DFromRegion>(factory, "GetMask2DFromRegion", shared_resources); + 4.68sINFOobjective_server_node\| 29: } + 4.68sINFOobjective_server_nodeSource "/opt/overlay_ws/install/moveit_pro_behavior_interface/include/moveit_pro_behavior_interface/shared_resources_node_loader.hpp", line 69, in registerBehaviors [0x7f8da098cdda] + 4.68sINFOobjective_server_node66: inline void registerBehavior(BT::BehaviorTreeFactory& factory, const std::string& name, + 4.68sINFOobjective_server_node67: const std::shared_ptr<moveit_pro::behaviors::BehaviorContext>& shared_resources) + 4.68sINFOobjective_server_node68: { + 4.68sINFOobjective_server_node[33m > 69: factory.registerBuilder<T>(name, getSharedResourcesNodeBuilder<T>(shared_resources)); + 4.68sINFOobjective_server_node[39m 70: } + 4.68sINFOobjective_server_node71: /** + 4.68sINFOobjective_server_node72: * @brief The SharedResourcesNodeLoaderBase class is a base class for Behavior loader plugins that register Behaviors + 4.69sINFOobjective_server_node#8 Source "/opt/ros/jazzy/include/behaviortree_cpp/bt_factory.h", line 235, in registerBuilder<lab_sim_behaviors::GenerateCoveragePath> [0x7f8da098c89e] + 4.69sINFOobjective_server_node232: void registerBuilder(const std::string& ID, const NodeBuilder& builder) + 4.69sINFOobjective_server_node233: { + 4.69sINFOobjective_server_node234: auto manifest = CreateManifest<T>(ID); + 4.69sINFOobjective_server_node[33m > 235: registerBuilder(manifest, builder); + 4.69sINFOobjective_server_node[39m 236: } + 4.69sINFOobjective_server_node237: + 4.69sINFOobjective_server_node238: /** + 4.69sINFOobjective_server_node#7 Object "/opt/ros/jazzy/lib/libbehaviortree_cpp.so", at 0x7f8de8b64db8, in + 4.69sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8dec1e3390, in __cxa_throw + 4.69sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8dec1cda54, in std::terminate() + 4.69sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8dec1e30d9, in + 4.69sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8dec1cdff4, in + 4.69sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8debf108fe, in abort + 4.69sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8debf2d27d, in raise + 4.69sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8debf86b2c, in pthread_kill + 4.69sERRORobjective_server_nodeAborted (Signal sent by tkill() 9109 0) + 4.71sERRORobjective_server_node_main-14process has died [pid 9109, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_3aoop5ou --params-file /tmp/launch_params_1mhtmusf --params-file /tmp/launch_params_9ypf1_kz --params-file /tmp/launch_params_93i6nbj9 --params-file /tmp/launch_params_7k16yl0x --params-file /tmp/launch_params_ae80tnbz --params-file /tmp/launch_params_9ajum4dn --params-file /tmp/launch_params_0g69n4hd --params-file /tmp/launch_params_2viohqxh']. + 4.71sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×3 + 6.31sINFOweb_video_auth_proxy-23sending signal 'SIGINT' to process[web_video_auth_proxy-23] ×3 + 6.31sINFOros2-6process has finished cleanly [pid 9072] + 6.31sINFOros2-3process has finished cleanly [pid 9069] + 6.31sINFOweb_bridge_auth_proxy-22sending signal 'SIGINT' to process[web_bridge_auth_proxy-22] ×3 + 6.32sINFOvideo_server-21sending signal 'SIGINT' to process[video_server-21] ×3 + 6.33sINFOtf2_web_republisher_node-20sending signal 'SIGINT' to process[tf2_web_republisher_node-20] ×3 + 6.34sINFOweb_bridge-19sending signal 'SIGINT' to process[web_bridge-19] ×3 + 6.35sINFOweb_video_auth_proxy-23process has finished cleanly [pid 9195] + 6.35sINFOui_teleop_bridge-18sending signal 'SIGINT' to process[ui_teleop_bridge-18] ×3 + 6.36sINFOexecute_objective_bridge-17sending signal 'SIGINT' to process[execute_objective_bridge-17] ×3 + 6.36sINFOweb_bridge_auth_proxy-22process has finished cleanly [pid 9194] + 6.37sINFOcomponent_container_mt-16sending signal 'SIGINT' to process[component_container_mt-16] ×3 + 6.38sINFOvideo_server-21process has finished cleanly [pid 9193] + 6.38sINFOcomponent_container_mt-15sending signal 'SIGINT' to process[component_container_mt-15] ×3 + 6.39sINFOmove_end_effector_resampler_node-13sending signal 'SIGINT' to process[move_end_effector_resampler_node-13] ×3 + 6.40sINFOmove_joint_resampler_node-12sending signal 'SIGINT' to process[move_joint_resampler_node-12] ×3 + 6.41sINFOwaypoint_manager_node-11sending signal 'SIGINT' to process[waypoint_manager_node-11] ×3 + 6.42sINFOparameter_manager_node-10sending signal 'SIGINT' to process[parameter_manager_node-10] ×3 + 6.44sINFOmove_group-9sending signal 'SIGINT' to process[move_group-9] ×3 + 6.45sINFOros2-7sending signal 'SIGINT' to process[ros2-7] ×3 + 6.47sINFOros2-5sending signal 'SIGINT' to process[ros2-5] ×3 + 6.48sINFOros2-4sending signal 'SIGINT' to process[ros2-4] ×3 + 6.48sERRORmove_group-9process has died [pid 9104, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_rqvqo31b --params-file /tmp/launch_params_ypg6bee4 --params-file /tmp/launch_params_mt_m9x7w --params-file /tmp/launch_params_rpkvn_sf --params-file /tmp/launch_params_gx0o15l2 --params-file /tmp/launch_params_ggacmnuo']. + 6.49sINFOros2-2sending signal 'SIGINT' to process[ros2-2] ×3 + 6.49sERRORros2-4process has died [pid 9070, exit code -2, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. + 6.50sINFOros2_control_node-1sending signal 'SIGINT' to process[ros2_control_node-1] ×3 + 6.50sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×3 + 6.50sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×3 + 6.50sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_99tnhp0g --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m8t2im2c --params-file /tmp/launch_params_ec_1n0ie [0m + 6.50sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 6.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×3 + 6.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 6.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×3 + 6.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215706 ms (missed cycles : 2).[0m + 6.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m + 6.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 6.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_99tnhp0g --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m8t2im2c --params-file /tmp/launch_params_ec_1n0ie [0m + 6.50sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m + 6.50sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 6.50sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 6.50sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 6.50sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 6.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m + 6.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×3 + 6.50sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×3 + 6.50sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m + 6.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m + 6.51sINFOvideo_server2026/07/30 09:54:44 INF shutting down gracefully + 6.51sINFOvideo_server2026/07/30 09:54:44 INF [WebRTC] closing + 6.51sINFOvideo_server2026/07/30 09:54:44 INF [RTSP] closing + 6.51sINFOvideo_server2026/07/30 09:54:44 INF waiting for running hooks + 6.51sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 6.51sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×3 + 6.51sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×3 + 6.51sERRORui_teleop_bridgeTraceback (most recent call last): ×3 + 6.51sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×3 + 6.51sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×3 + 6.51sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×3 + 6.51sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×3 + 6.51sINFOui_teleop_bridgerclpy.shutdown() ×3 + 6.51sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×3 + 6.51sINFOui_teleop_bridge_shutdown(context=context) ×3 + 6.51sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×3 + 6.51sINFOui_teleop_bridgecontext.shutdown() ×3 + 6.51sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×3 + 6.51sINFOui_teleop_bridgeself.__context.shutdown() ×3 + 6.51sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×3 + 6.51sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' + 6.51sERRORmove_groupwhat(): context cannot be slept with because it's invalid + 6.51sERRORmove_groupStack trace (most recent call last) in thread 9562: + 6.51sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 6.51sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc6bf13a63, in __clone + 6.51sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc6be86aa3, in + 6.51sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fdc6c118db3, in + 6.51sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fdc6c85bed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() + 6.51sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc6c48b4d0, in rclcpp::Rate::sleep() + 6.51sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc6c3dea88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) + 6.51sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc6c3a3a71, in + 6.51sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fdc6c0e7390, in __cxa_throw + 6.51sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fdc6c0d1a54, in std::terminate() + 6.51sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fdc6c0e70d9, in + 6.51sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fdc6c0d1ff4, in + 6.51sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc6be128fe, in abort + 6.51sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc6be2f27d, in raise + 6.51sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc6be88b2c, in pthread_kill + 6.51sERRORmove_groupAborted (Signal sent by tkill() 9104 0) + 6.51sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m + 6.51sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 6.51sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 6.51sINFOros2_control_nodeShutdown request received....[0m ×3 + 6.51sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×3 + 6.51sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×3 + 6.51sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×3 + 6.51sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 6.51sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 6.51sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 6.51sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×3 + 6.51sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×3 + 6.51sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×3 + 6.51sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×3 + 6.51sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×3 + 6.51sINFOros2_control_nodeShutting down the controller manager.[0m ×3 + 6.51sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 6.52sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×9 + 6.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_99tnhp0g --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m8t2im2c --params-file /tmp/launch_params_ec_1n0ie [0m + 6.52sERRORros2_control_nodeCaught exception of type : N6rclcpp10exceptions8RCLErrorE while initializing controller 'velocity_force_controller': failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67[0m + 6.55sFATALros2[91mFailed loading controller [1mvelocity_force_controller[0m[0m + 6.67sINFOros2_control_nodeAsync messages lost 0[0m ×6 + 6.67sINFOros2_control_nodepublish_async_failures_ 0[0m ×5 + 6.68sINFOros2_control_nodepublish_async_failures_ 1[0m + 7.37sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9186] + 7.37sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×3 + 7.43sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9108] + 7.44sINFOexecute_objective_bridge-17process has finished cleanly [pid 9112] + 7.45sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9107] + 7.46sINFOcomponent_container_mt-16process has finished cleanly [pid 9111] + 7.48sINFOparameter_manager_node-10process has finished cleanly [pid 9105] + 7.49sERRORui_teleop_bridge-18process has died [pid 9113, 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_750fsul4']. + 7.49sINFOwaypoint_manager_node-11process has finished cleanly [pid 9106] + 7.72sINFOros2[ros2run]: Process exited with failure 1 + 7.76sERRORros2-7process has died [pid 9073, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 8.07sINFOweb_bridge-19process has finished cleanly [pid 9114] + 8.07sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×3 + 8.56sINFOcomponent_container_mt-15process has finished cleanly [pid 9110] + 11.31sERRORros2-5process[ros2-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×3 + 11.31sERRORros2-2process[ros2-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×3 + 11.31sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.32sINFOros2-5sending signal 'SIGTERM' to process[ros2-5] ×3 + 11.33sINFOros2-2sending signal 'SIGTERM' to process[ros2-2] ×3 + 11.33sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 11.33sERRORros2-5process has died [pid 9071, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller']. + 11.33sERRORros2-2process has died [pid 9068, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 11.46sERRORros2_control_node-1process has died [pid 9067, exit code -15, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_99tnhp0g --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m8t2im2c --params-file /tmp/launch_params_ec_1n0ie -r ~/robot_description:=/robot_description']. +188.48sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-07-30-09-57-45-836537-959e731b80c0-9720 ×2 +189.68sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +189.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +189.69sINFOcontroller_managerupdate rate is 600 Hz +189.69sINFOcontroller_managerOverruns handling is : enabled +189.69sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +189.69sWARNcontroller_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. +189.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162531 ms (missed cycles : 2). +189.88sINFOros2_control_node-1process started with pid [9768] ×2 +189.88sINFOmove_group-9process started with pid [9787] ×2 +189.88sINFOparameter_manager_node-10process started with pid [9788] ×2 +189.88sINFOwaypoint_manager_node-11process started with pid [9789] ×2 +189.88sINFOmove_joint_resampler_node-12process started with pid [9790] ×2 +189.89sINFOmove_end_effector_resampler_node-13process started with pid [9791] ×2 +189.89sINFOobjective_server_node_main-14process started with pid [9795] ×2 +189.89sINFOcomponent_container_mt-15process started with pid [9811] ×2 +189.89sINFOcomponent_container_mt-16process started with pid [9812] ×2 +189.89sINFOexecute_objective_bridge-17process started with pid [9813] ×2 +189.89sINFOui_teleop_bridge-18process started with pid [9814] ×2 +189.89sINFOweb_bridge-19process started with pid [9815] ×2 +189.89sINFOtf2_web_republisher_node-20process started with pid [9894] ×2 +189.89sINFOvideo_server-21process started with pid [9895] ×2 +189.89sINFOweb_bridge_auth_proxy-22process started with pid [9928] ×2 +189.89sINFOweb_video_auth_proxy-23process started with pid [9929] ×2 +189.90sINFOros2-2process started with pid [9769] ×2 +189.90sINFOros2-3process started with pid [9770] ×2 +189.91sINFOros2-4process started with pid [9771] ×2 +189.91sINFOros2-5process started with pid [9772] ×2 +189.91sINFOros2-6process started with pid [9773] ×2 +189.91sINFOros2-7process started with pid [9774] ×2 +189.91sINFOros2-8process started with pid [9775] ×2 +189.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162531 ms (missed cycles : 2).[0m ×2 +190.01sINFOcontroller_managerReceived robot description from topic. +190.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +190.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +190.23sINFOvideo_server2026/07/30 09:57:48 INF MediaMTX v1.19.3, linux, amd64 ×2 +190.23sINFOvideo_server2026/07/30 09:57:48 INF configuration loaded from /tmp/moveit-webrtc-94rlkp2g/mediamtx.yml ×2 +190.23sINFOvideo_server2026/07/30 09:57:48 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 +190.23sINFOvideo_server2026/07/30 09:57:48 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +190.80sINFOmove_group[2026-07-30 09:57:48.704] [moveit_pro_license] [info] ×2 +190.92sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +190.92sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +191.04sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +191.18sINFOwaypoint_manager_node[2026-07-30 09:57:49.088] [moveit_pro_license] [info] ×2 +191.84sINFOobjective_server_node[2026-07-30 09:57:49.748] [moveit_pro_license] [info] ×2 +192.26sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +192.31sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +192.31sINFOcontroller_managerActivating component 'ur_mujoco_control'. +192.31sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +192.31sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +192.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +192.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' +192.55sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a785f336a4, in _start ×2 +192.55sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fccea50f28a, in __libc_start_main ×2 +192.55sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fccea50f1c9, in ×2 +192.55sINFOobjective_server_node#12 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a785f33893, in main ×2 +192.56sINFOobjective_server_node#11 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/libobjective_server_node.so", at 0x7fcceacd14b1, in moveit_studio::objective_server::ObjectiveServerNode::ObjectiveServerNode(rclcpp::NodeOptions const&) ×2 +192.56sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/libobjective_server_node.so", at 0x7fccead31707, in moveit_studio::objective_server::ObjectiveServer::registerBehaviorLoaderPlugins(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&) ×2 +192.56sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_pro_behavior/lib/libcore_behaviors.so", at 0x7fcca6eaa266, in moveit_pro::behaviors::CoreBehaviorsLoader::registerBehaviors(BT::BehaviorTreeFactory&, std::shared_ptr<moveit_pro::behaviors::BehaviorContext> const&) ×2 +192.56sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_pro_behavior/lib/libcore_behaviors.so", at 0x7fcca6f0f558, in void BT::BehaviorTreeFactory::registerBuilder<moveit_pro::behaviors::GenerateCoveragePath>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<std::unique_ptr<BT::TreeNode, std::default_delete<BT::TreeNode> > (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, BT::NodeConfig const&)> const&) ×2 +192.56sINFOobjective_server_node#7 Object "/opt/ros/jazzy/lib/libbehaviortree_cpp.so", at 0x7fcce7161db8, in ×2 +192.56sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fccea7e0390, in __cxa_throw ×2 +192.56sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fccea7caa54, in std::terminate() ×2 +192.56sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fccea7e00d9, in ×2 +192.56sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fccea7caff4, in ×2 +192.56sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fccea50d8fe, in abort ×2 +192.56sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fccea52a27d, in raise ×2 +192.56sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fccea583b2c, in pthread_kill ×2 +192.56sERRORobjective_server_nodeAborted (Signal sent by tkill() 9795 0) ×2 +192.58sERRORobjective_server_node_main-14process has died [pid 9795, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_ag13l8rk --params-file /tmp/launch_params_iq_5_6me --params-file /tmp/launch_params_tz_y0kf4 --params-file /tmp/launch_params_4vtmszmc --params-file /tmp/launch_params_jw5legch --params-file /tmp/launch_params_pssbw1uy --params-file /tmp/launch_params_fzt8zo8c --params-file /tmp/launch_params_eij15ukc --params-file /tmp/launch_params_pzl5eo36']. ×2 +192.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uof9hf20 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_10ir7117 --params-file /tmp/launch_params_c92nv885 +192.65sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +192.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +192.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291077 ms (missed cycles : 2). +193.75sINFOweb_video_auth_proxy-23process has finished cleanly [pid 9929] ×2 +193.77sINFOweb_bridge_auth_proxy-22process has finished cleanly [pid 9928] ×2 +193.77sINFOvideo_server-21process has finished cleanly [pid 9895] ×2 +193.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735983 ms (missed cycles : 2). +193.81sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' +193.81sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +193.82sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uof9hf20 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_10ir7117 --params-file /tmp/launch_params_c92nv885 +193.83sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +193.85sINFOros2-8sending signal 'SIGINT' to process[ros2-8] ×2 +193.87sERRORros2-8process has died [pid 9775, exit code -2, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller']. ×2 +193.87sINFOros2-6sending signal 'SIGINT' to process[ros2-6] ×2 +193.88sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +193.88sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' +193.88sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +193.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] +193.89sINFOcontroller_managerSuccessfully switched controllers! +193.89sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +193.90sINFOros2-3sending signal 'SIGINT' to process[ros2-3] ×2 +193.91sINFOcontroller_managerShutdown request received.... +193.91sINFOcontroller_managerShutting down all controllers in the controller manager. +193.91sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' +193.91sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' +193.92sINFOcontroller_managerShutting down controller 'joint_velocity_controller' +193.92sINFOcomponent_container_mt[2026-07-30 09:57:50.513] [moveit_pro_license] [info] ×2 +193.92sINFOcontroller_managerShutting down the controller manager. +193.92sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uof9hf20 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_10ir7117 --params-file /tmp/launch_params_c92nv885 [0m ×2 +193.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291077 ms (missed cycles : 2).[0m ×2 +193.92sINFOros2_control_node[2026-07-30 09:57:50.586] [info] Controller state will be published at 20 Hz. ×2 +193.92sINFOros2_control_node[2026-07-30 09:57:50.587] [info] JointVelocityController 'on_configure' succeeded. ×2 +193.92sINFOvideo_server2026/07/30 09:57:51 INF shutting down gracefully ×2 +193.92sINFOvideo_server2026/07/30 09:57:51 INF [WebRTC] closing ×2 +193.92sINFOvideo_server2026/07/30 09:57:51 INF [RTSP] closing ×2 +193.92sINFOvideo_server2026/07/30 09:57:51 INF waiting for running hooks ×2 +193.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735983 ms (missed cycles : 2).[0m ×2 +193.92sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uof9hf20 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_10ir7117 --params-file /tmp/launch_params_c92nv885 [0m ×2 +194.20sINFOros2-3process has finished cleanly [pid 9770] ×2 +194.22sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +194.68sWARNINGlaunch_ros.actions.load_composable_nodesAbandoning wait for the '/moveit_studio_container/_container/load_node' service response, due to shutdown. ×2 +194.77sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9894] ×2 +194.85sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9791] ×2 +194.85sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9790] ×2 +194.86sINFOcomponent_container_mt-16process has finished cleanly [pid 9812] ×2 +194.87sERRORui_teleop_bridge-18process has died [pid 9814, 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_ocjur_3u']. ×2 +194.88sINFOparameter_manager_node-10process has finished cleanly [pid 9788] ×2 +194.88sINFOexecute_objective_bridge-17process has finished cleanly [pid 9813] ×2 +194.89sINFOwaypoint_manager_node-11process has finished cleanly [pid 9789] ×2 +194.95sINFOmove_group-9process has finished cleanly [pid 9787] ×2 +195.78sINFOweb_bridge-19process has finished cleanly [pid 9815] ×2 +196.92sINFOcomponent_container_mt-15process has finished cleanly [pid 9811] ×2 +198.47sINFOros2_control_node-1process has finished cleanly [pid 9768] ×2 +198.70sERRORros2-7process[ros2-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 +198.70sERRORros2-6process[ros2-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 +198.70sERRORros2-4process[ros2-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 +198.71sINFOros2-7sending signal 'SIGTERM' to process[ros2-7] ×2 +198.71sINFOros2-6sending signal 'SIGTERM' to process[ros2-6] ×2 +198.72sERRORros2-7process has died [pid 9774, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. ×2 +198.73sINFOros2-4sending signal 'SIGTERM' to process[ros2-4] ×2 +198.73sERRORros2-6process has died [pid 9773, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller']. ×2 +198.74sERRORros2-5process has died [pid 9772, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller']. ×2 +198.74sERRORros2-4process has died [pid 9771, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. ×2 +198.74sERRORros2-2process has died [pid 9769, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2
! error	—	reset_planning_scene.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	—	vector_subtrees_example.xml	0.0s	no logs
No ROS log lines in this test's time window.
− skipped	—	addtovector.xml	0.0s	6 warnings · 177 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-07-30-09-57-45-836537-959e731b80c0-9720 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.20sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.21sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.22sINFOcontroller_managerupdate rate is 600 Hz + 1.22sINFOcontroller_managerOverruns handling is : enabled + 1.22sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.22sWARNcontroller_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. + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162531 ms (missed cycles : 2). + 1.40sINFOros2_control_node-1process started with pid [9768] ×2 + 1.40sINFOmove_group-9process started with pid [9787] ×2 + 1.40sINFOparameter_manager_node-10process started with pid [9788] ×2 + 1.41sINFOwaypoint_manager_node-11process started with pid [9789] ×2 + 1.41sINFOmove_joint_resampler_node-12process started with pid [9790] ×2 + 1.41sINFOmove_end_effector_resampler_node-13process started with pid [9791] ×2 + 1.41sINFOobjective_server_node_main-14process started with pid [9795] ×2 + 1.41sINFOcomponent_container_mt-15process started with pid [9811] ×2 + 1.41sINFOcomponent_container_mt-16process started with pid [9812] ×2 + 1.41sINFOexecute_objective_bridge-17process started with pid [9813] ×2 + 1.41sINFOui_teleop_bridge-18process started with pid [9814] ×2 + 1.41sINFOweb_bridge-19process started with pid [9815] ×2 + 1.41sINFOtf2_web_republisher_node-20process started with pid [9894] ×2 + 1.41sINFOvideo_server-21process started with pid [9895] ×2 + 1.41sINFOweb_bridge_auth_proxy-22process started with pid [9928] ×2 + 1.42sINFOweb_video_auth_proxy-23process started with pid [9929] ×2 + 1.43sINFOros2-2process started with pid [9769] ×2 + 1.43sINFOros2-3process started with pid [9770] ×2 + 1.43sINFOros2-4process started with pid [9771] ×2 + 1.43sINFOros2-5process started with pid [9772] ×2 + 1.43sINFOros2-6process started with pid [9773] ×2 + 1.43sINFOros2-7process started with pid [9774] ×2 + 1.43sINFOros2-8process started with pid [9775] ×2 + 1.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.48sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.48sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.48sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.48sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.48sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.48sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162531 ms (missed cycles : 2).[0m ×2 + 1.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.51sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.53sINFOcontroller_managerReceived robot description from topic. + 1.53sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.54sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.54sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.57sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.57sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.75sINFOvideo_server2026/07/30 09:57:48 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.75sINFOvideo_server2026/07/30 09:57:48 INF configuration loaded from /tmp/moveit-webrtc-94rlkp2g/mediamtx.yml ×2 + 1.75sINFOvideo_server2026/07/30 09:57:48 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.75sINFOvideo_server2026/07/30 09:57:48 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.32sINFOmove_group[2026-07-30 09:57:48.704] [moveit_pro_license] [info] ×2 + 2.32sINFOmove_group************************************************* ×4 + 2.32sINFOmove_group* MoveIt Pro License ×2 + 2.32sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.44sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.44sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.44sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.44sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.56sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.57sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.58sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.61sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.61sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.61sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.62sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.62sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.67sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.70sINFOwaypoint_manager_node[2026-07-30 09:57:49.088] [moveit_pro_license] [info] ×2 + 2.70sINFOwaypoint_manager_node************************************************* ×4 + 2.70sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.70sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.74sINFOmove_group ×4 + 2.74sINFOmove_group[92mYou can start planning now![0m ×2 + 2.78sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.36sINFOobjective_server_node[2026-07-30 09:57:49.748] [moveit_pro_license] [info] ×2 + 3.36sINFOobjective_server_node************************************************* ×4 + 3.36sINFOobjective_server_node* MoveIt Pro License ×2 + 3.36sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.47sINFOobjective_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 + 3.47sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.48sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.48sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.48sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.48sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.48sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.48sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.48sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.48sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	createvector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	find_nearest_pose_in_path.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	request_teleoperation.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	teleoperate.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

1 fail

! error	—	reset_mujoco_sim.xml	0.0s	no logs
No ROS log lines in this test's time window.

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	segment_image_from_point_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	interpolate_to_joint_state.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	move_to_joint_state.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	move_to_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	move_to_pose_jtc.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	move_to_waypoint.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	move_to_waypoint_jtc.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	record_teleop_trajectory.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	track_moving_frame.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	interactive_marker_visualization_example.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	visualize_tf.xml	0.0s	skipped
No ROS log lines in this test's time window.