MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

18.1s

Avg test time

Objective pass rate

Show INFO/DEBUG

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

13 fail24 skip

! error	Take Wrist Camera Snapshot	wrist_snap.xml	0.3s	no logs
No ROS log lines in this test's time window.
! error	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Move to Arm Upright	move_to_arm_upright.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Move to Look at Plane	move_to_look_at_plane.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Plan Path Along Surface	plan_path_along_surface.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Point-to-Point Trajectory	point-to-point_trajectory.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Solution - Generate coverage path	solution_generate_coverage_path.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Solution - Move Forward 2m	solution_move_forward_2m.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.
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Close Gripper	close_gripper.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Open Gripper	open_gripper.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Wait for Trajectory Approval if User Available	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/core

3 fail6 skip

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

▾(no parent)

1 fail

! error	—	test_base_link_has_single_tf_parent	325.5s	131 errors · 378 warnings · 1937 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/2026-08-27-23-53-43-339522-142c30acf582-7701 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 14.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 14.24sINFOros2_control_node-9process started with pid [7759] + 14.24sINFOmove_group-21process started with pid [7849] + 14.24sINFOparameter_manager_node-22process started with pid [7851] + 14.24sINFOwaypoint_manager_node-23process started with pid [7868] + 14.24sINFOmove_joint_resampler_node-24process started with pid [7869] + 14.24sINFOmove_end_effector_resampler_node-25process started with pid [7870] + 14.24sINFOobjective_server_node_main-26process started with pid [7871] + 14.24sINFOcomponent_container_mt-27process started with pid [7872] + 14.24sINFOcomponent_container_mt-28process started with pid [7873] + 14.24sINFOexecute_objective_bridge-29process started with pid [7874] + 14.24sINFOui_teleop_bridge-30process started with pid [7875] + 14.24sINFOweb_bridge-31process started with pid [7878] + 14.24sINFOtf2_web_republisher_node-32process started with pid [7879] + 14.24sINFOvideo_server-33process started with pid [7880] + 14.24sINFOweb_bridge_auth_proxy-34process started with pid [7885] + 14.24sINFOweb_video_auth_proxy-35process started with pid [7888] + 14.27sINFOcomponent_container_isolated-1process started with pid [7751] + 14.28sINFOcomponent_container_isolated-2process started with pid [7752] + 14.28sINFOstatic_transform_publisher-3process started with pid [7753] + 14.28sINFOstatic_transform_publisher-4process started with pid [7754] + 14.28sINFOodom_qos_relay.py-5process started with pid [7755] + 14.28sINFOforward_stereo_publisher.py-6process started with pid [7756] + 14.28sINFOscan_to_scan_filter_chain-7process started with pid [7757] + 14.28sINFOscan_to_scan_filter_chain-8process started with pid [7758] + 14.28sINFOros2-10process started with pid [7837] + 14.28sINFOros2-11process started with pid [7838] + 14.28sINFOros2-12process started with pid [7839] + 14.28sINFOros2-13process started with pid [7840] + 14.28sINFOros2-14process started with pid [7841] + 14.28sINFOros2-15process started with pid [7842] + 14.28sINFOros2-16process started with pid [7843] + 14.28sINFOros2-17process started with pid [7844] + 14.29sINFOros2-18process started with pid [7845] + 14.29sINFOros2-19process started with pid [7846] + 14.29sINFOros2-20process started with pid [7847] + 14.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 14.41sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 14.43sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 14.43sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 14.43sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 14.43sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 14.43sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 14.43sERRORros2_control_nodeCould not find a root element for package manifest at /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller/share/clearpath_mecanum_drive_controller/package.xml.[0m ×6 + 14.43sERRORros2_control_nodeCould not find package manifest (neither package.xml or deprecated manifest.xml) at same directory level as the plugin XML file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller/share/clearpath_mecanum_drive_controller/clearpath_mecanum_drive_controller.xml. Plugins will likely not be exported properly. ×6 + 14.43sINFOros2_control_node)[0m ×6 + 14.43sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 14.43sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 14.43sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 14.43sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 14.43sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 14.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 14.45sWARNros2_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 + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437981 ms (missed cycles : 3).[0m + 14.48sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 14.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 14.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 14.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 14.55sINFOcomponent_container_mtRobot initialized[0m ×3 + 14.56sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 14.56sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 14.56sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 14.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 14.59sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 14.59sINFOvideo_server2026/08/27 23:54:01 INF MediaMTX v1.19.3, linux, amd64 + 14.59sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 14.61sINFOvideo_server2026/08/27 23:54:01 INF configuration loaded from /tmp/moveit-webrtc-0eq2kc0g/mediamtx.yml + 14.61sINFOvideo_server2026/08/27 23:54:01 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 14.61sINFOvideo_server2026/08/27 23:54:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 14.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 14.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 14.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 14.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 14.72sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 14.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.90sWARNscan_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.[0m ×6 + 14.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 15.00sINFOmove_groupLoaded robot model in 0.376077 seconds[0m + 15.01sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 15.01sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 15.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 15.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655372 ms (missed cycles : 3).[0m + 15.43sINFOwaypoint_manager_nodeLoaded robot model in 0.339627 seconds[0m + 15.43sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.43sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.21sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.21sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253034 ms (missed cycles : 3).[0m + 16.22sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.23sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.68sINFOmove_group[2026-08-27 23:54:03.486] [moveit_pro_license] [info] + 16.68sINFOmove_group************************************************* ×6 + 16.68sINFOmove_group* MoveIt Pro License ×3 + 16.68sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.70sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×5 + 16.72sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 16.72sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 16.75sINFOwaypoint_manager_node[2026-08-27 23:54:03.560] [moveit_pro_license] [info] + 16.76sINFOwaypoint_manager_node************************************************* ×6 + 16.76sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 16.76sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.79sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×3 + 16.79sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 17.21sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 17.21sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 17.21sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 17.22sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.22sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 17.22sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 17.23sINFOmove_groupStarting planning scene monitor[0m ×3 + 17.24sINFOmove_groupListening to '/planning_scene'[0m ×3 + 17.25sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 17.25sINFOmove_groupListening to 'collision_object'[0m ×3 + 17.25sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 17.31sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 17.31sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.32sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 17.84sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 17.84sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 17.84sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 17.84sWARNros2_control_node23 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×3 + 17.85sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 17.85sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 17.85sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 17.85sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×3 + 17.85sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×3 + 17.85sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×3 + 17.85sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×3 + 17.85sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×3 + 17.85sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×3 + 17.85sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×3 + 17.85sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×3 + 17.85sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×3 + 17.85sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 17.85sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 17.85sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 17.85sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 17.85sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 17.85sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 17.85sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 17.85sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 17.85sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 17.85sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 17.85sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 17.85sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 17.85sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 17.85sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 17.85sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 17.85sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 17.85sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 17.96sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 17.96sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 17.96sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ymypmu_u --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_rd68bw3r --params-file /tmp/launch_params_ql50ppdg [0m + 17.99sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067916 ms (missed cycles : 2).[0m + 18.00sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 18.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 18.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 18.00sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 18.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 18.01sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.03sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 18.06sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 18.11sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×3 + 18.11sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 18.11sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×3 + 18.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.17sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 18.18sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.18sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.18sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 18.18sINFOobjective_server_node[2026-08-27 23:54:04.985] [moveit_pro_license] [info] + 18.18sINFOobjective_server_node************************************************* ×12 + 18.18sINFOobjective_server_node* MoveIt Pro License ×6 + 18.18sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 18.27sINFOobjective_server_nodeLoaded robot model in 0.0353518 seconds[0m + 18.27sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 18.27sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.30sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' 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 ×3 + 18.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 18.38sERRORros2_control_nodeCaught exception of type : St13runtime_error while loading the controller 'platform_velocity_controller_nav2' of plugin type 'clearpath_mecanum_drive_controller/MecanumDriveController': ×3 + 18.38sINFOros2_control_nodeament_index_cpp::get_resource() resource name must not be empty[0m ×6 + 18.42sINFOros2-14process has finished cleanly [pid 7841] + 18.43sFATALros2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m[0m ×3 + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.46sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 18.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.71sINFOcomponent_container_mtLoaded robot model in 0.408718 seconds[0m + 18.71sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 18.71sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.76sINFOros2[ros2run]: Process exited with failure 1 ×9 + 18.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 18.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 18.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ymypmu_u --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_rd68bw3r --params-file /tmp/launch_params_ql50ppdg [0m + 18.82sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 18.82sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.82sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.82sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.82sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.83sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.83sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.83sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.83sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.83sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.83sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.84sERRORros2-15process has died [pid 7842, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. + 18.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 18.91sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 18.91sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 18.92sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 18.92sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 18.92sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 18.92sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 18.92sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 18.92sINFOobjective_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 + 18.92sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 18.93sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 18.94sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099383 ms (missed cycles : 2).[0m + 19.22sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 19.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 19.25sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.25sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 19.27sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 19.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 19.27sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 19.27sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 19.27sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 19.27sINFOros2-16process has finished cleanly [pid 7843] + 19.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 19.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 19.38sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ymypmu_u --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_rd68bw3r --params-file /tmp/launch_params_ql50ppdg [0m + 19.39sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 19.40sINFOmove_group ×12 + 19.40sINFOmove_group******************************************************** ×6 + 19.40sINFOmove_group* MoveGroup using: ×3 + 19.41sINFOmove_group* - apply_planning_scene_service ×3 + 19.41sINFOmove_group* - clear_octomap_service ×3 + 19.41sINFOmove_group* - get_group_urdf ×3 + 19.41sINFOmove_group* - load_geometry_from_file ×3 + 19.41sINFOmove_group* - get_planning_scene_service ×3 + 19.41sINFOmove_group* - kinematics_service ×3 + 19.41sINFOmove_group* - save_geometry_to_file ×3 + 19.41sINFOmove_group* - GetPlanningGroups ×3 + 19.41sINFOmove_group* - URDFPlanningSceneCapability ×3 + 19.41sINFOmove_group[0m ×3 + 19.41sINFOmove_group[92mYou can start planning now![0m ×3 + 19.47sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 19.48sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 19.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 19.50sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 19.61sINFOcomponent_container_mt[2026-08-27 23:54:06.418] [moveit_pro_license] [info] + 19.61sINFOcomponent_container_mt************************************************* ×6 + 19.61sINFOcomponent_container_mt* MoveIt Pro License ×3 + 19.61sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 19.69sWARNros2_control_nodeCamera render tick took 0.75 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 19.98sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 19.98sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 19.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 19.99sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 20.02sINFOros2_control_node[2026-08-27 23:54:06.823] [info] Controller state will be published at 20 Hz. + 20.02sINFOros2_control_node[2026-08-27 23:54:06.824] [info] JointVelocityController 'on_configure' succeeded. + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775070 ms (missed cycles : 2).[0m + 20.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 20.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 20.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 20.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m + 20.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 20.37sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ymypmu_u --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_rd68bw3r --params-file /tmp/launch_params_ql50ppdg [0m + 20.41sINFOros2-20process has finished cleanly [pid 7847] + 20.43sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m + 20.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m + 20.44sINFOros2_control_nodeconfigure successful[0m + 20.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m + 20.45sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m + 20.49sWARNobjective_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 + 20.79sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.79sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 20.84sINFOros2-10process has finished cleanly [pid 7837] + 20.89sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ymypmu_u --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_rd68bw3r --params-file /tmp/launch_params_ql50ppdg [0m + 20.98sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 20.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 21.27sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861860 ms (missed cycles : 2).[0m + 21.50sINFOros2_control_node[2026-08-27 23:54:08.306] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.50sINFOros2_control_node[2026-08-27 23:54:08.309] [info] Controller state will be published at 10 Hz. + 21.50sINFOros2_control_node[2026-08-27 23:54:08.310] [info] VelocityForceController 'on_configure' succeeded. + 21.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 21.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 21.86sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ymypmu_u --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_rd68bw3r --params-file /tmp/launch_params_ql50ppdg [0m + 21.90sINFOros2-18process has finished cleanly [pid 7845] + 21.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 21.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 21.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 21.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 21.96sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 22.30sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.30sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 22.30sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ymypmu_u --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_rd68bw3r --params-file /tmp/launch_params_ql50ppdg [0m + 22.35sINFOros2-12process has finished cleanly [pid 7839] + 22.37sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 22.37sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211849 ms (missed cycles : 3).[0m + 22.90sINFOros2_control_node[2026-08-27 23:54:09.709] [info] Controller state will be published at 20 Hz. + 22.90sINFOros2_control_node[2026-08-27 23:54:09.710] [info] JointVelocityController 'on_configure' succeeded. + 23.28sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 23.28sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 23.28sERRORros2_control_nodeCaught exception of type : St13runtime_error while loading the controller 'platform_velocity_controller' of plugin type 'clearpath_mecanum_drive_controller/MecanumDriveController': ×3 + 23.30sINFOros2-19process has finished cleanly [pid 7846] + 23.31sFATALros2[91mFailed loading controller [1mplatform_velocity_controller[0m[0m ×3 + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474679 ms (missed cycles : 2).[0m + 23.79sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m + 23.79sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m + 23.80sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ymypmu_u --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_rd68bw3r --params-file /tmp/launch_params_ql50ppdg [0m + 23.85sERRORros2-13process has died [pid 7840, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. + 23.85sERRORlaunchCaught exception in launch (see debug for traceback): Critical process ros2-13 died with exit code 1; failing the launch so the container exits non-zero and a deployment supervisor can react. ×3 + 24.39sINFOweb_video_auth_proxy-35sending signal 'SIGINT' to process[web_video_auth_proxy-35] ×3 + 24.41sINFOros2-11process has finished cleanly [pid 7838] + 24.41sINFOweb_bridge_auth_proxy-34sending signal 'SIGINT' to process[web_bridge_auth_proxy-34] ×3 + 24.43sINFOvideo_server-33sending signal 'SIGINT' to process[video_server-33] ×3 + 24.46sINFOweb_video_auth_proxy-35process has finished cleanly [pid 7888] + 24.46sINFOtf2_web_republisher_node-32sending signal 'SIGINT' to process[tf2_web_republisher_node-32] ×3 + 24.49sINFOweb_bridge_auth_proxy-34process has finished cleanly [pid 7885] + 24.49sINFOweb_bridge-31sending signal 'SIGINT' to process[web_bridge-31] ×3 + 24.51sINFOvideo_server-33process has finished cleanly [pid 7880] + 24.52sINFOui_teleop_bridge-30sending signal 'SIGINT' to process[ui_teleop_bridge-30] ×3 + 24.55sINFOexecute_objective_bridge-29sending signal 'SIGINT' to process[execute_objective_bridge-29] ×3 + 24.58sINFOcomponent_container_mt-28sending signal 'SIGINT' to process[component_container_mt-28] ×3 + 24.61sINFOcomponent_container_mt-27sending signal 'SIGINT' to process[component_container_mt-27] ×3 + 24.64sINFOobjective_server_node_main-26sending signal 'SIGINT' to process[objective_server_node_main-26] ×3 + 24.67sINFOmove_end_effector_resampler_node-25sending signal 'SIGINT' to process[move_end_effector_resampler_node-25] ×3 + 24.71sINFOmove_joint_resampler_node-24sending signal 'SIGINT' to process[move_joint_resampler_node-24] ×3 + 24.75sINFOwaypoint_manager_node-23sending signal 'SIGINT' to process[waypoint_manager_node-23] ×3 + 24.77sINFOtf2_web_republisher_node-32process has finished cleanly [pid 7879] + 24.78sINFOparameter_manager_node-22sending signal 'SIGINT' to process[parameter_manager_node-22] ×3 + 24.81sINFOmove_group-21sending signal 'SIGINT' to process[move_group-21] ×3 + 24.84sINFOros2-17sending signal 'SIGINT' to process[ros2-17] + 24.89sINFOui_teleop_bridge-30process has finished cleanly [pid 7875] + 24.89sERRORmove_group-21process has died [pid 7849, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_jw2kc1p3 --params-file /tmp/launch_params_p2lgkfw_ --params-file /tmp/launch_params_1trvfemx --params-file /tmp/launch_params_gm3elysi --params-file /tmp/launch_params_uheuy6yl --params-file /tmp/launch_params_r9etwa7q']. + 24.92sINFOros2_control_node-9sending signal 'SIGINT' to process[ros2_control_node-9] ×3 + 24.92sINFOcomponent_container_mt-28process has finished cleanly [pid 7873] + 24.94sINFOscan_to_scan_filter_chain-8sending signal 'SIGINT' to process[scan_to_scan_filter_chain-8] ×3 + 24.95sINFOexecute_objective_bridge-29process has finished cleanly [pid 7874] + 24.96sINFOscan_to_scan_filter_chain-7sending signal 'SIGINT' to process[scan_to_scan_filter_chain-7] ×3 + 24.99sINFOforward_stereo_publisher.py-6sending signal 'SIGINT' to process[forward_stereo_publisher.py-6] ×3 + 25.01sINFOodom_qos_relay.py-5sending signal 'SIGINT' to process[odom_qos_relay.py-5] ×3 + 25.05sINFOstatic_transform_publisher-4sending signal 'SIGINT' to process[static_transform_publisher-4] ×3 + 25.07sINFOstatic_transform_publisher-3sending signal 'SIGINT' to process[static_transform_publisher-3] ×3 + 25.10sINFOcomponent_container_isolated-2sending signal 'SIGINT' to process[component_container_isolated-2] ×3 + 25.12sINFOcomponent_container_isolated-1sending signal 'SIGINT' to process[component_container_isolated-1] ×3 + 25.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m + 25.12sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m + 25.12sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 25.12sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 25.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ymypmu_u --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_rd68bw3r --params-file /tmp/launch_params_ql50ppdg [0m + 25.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 25.12sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m + 25.12sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m + 25.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 25.13sINFOvideo_server2026/08/27 23:54:11 INF shutting down gracefully + 25.13sINFOvideo_server2026/08/27 23:54:11 INF [WebRTC] closing + 25.13sINFOvideo_server2026/08/27 23:54:11 INF [RTSP] closing + 25.13sINFOvideo_server2026/08/27 23:54:11 INF waiting for running hooks + 25.13sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×3 + 25.13sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 25.13sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×3 + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142455 ms (missed cycles : 4).[0m + 25.14sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×6 + 25.14sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 25.14sINFOcomponent_container_mtStopping planning scene monitor[0m ×3 + 25.14sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 25.14sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 25.14sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×3 + 25.15sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 25.15sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 25.15sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×3 + 25.15sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×3 + 25.15sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×3 + 25.15sERRORmove_groupStack trace (most recent call last) in thread 8493: + 25.15sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×3 + 25.15sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a0140da63, in __clone + 25.15sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a01380aa3, in + 25.15sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7a01612db3, in + 25.15sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f7a01d83a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() + 25.15sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a019a4620, in rclcpp::Rate::sleep() + 25.15sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a018e6d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) + 25.15sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a018a8087, in + 25.15sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7a015e1390, in __cxa_throw + 25.15sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7a015cba54, in std::terminate() + 25.15sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7a015e10d9, in + 25.15sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7a015cbff4, in + 25.15sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a0130c8fe, in abort + 25.15sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a0132927d, in raise + 25.15sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a01382b2c, in pthread_kill + 25.15sERRORmove_groupAborted (Signal sent by tkill() 7849 0) + 25.15sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 25.15sINFOros2_control_nodeShutdown request received....[0m ×3 + 25.15sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×3 + 25.15sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m + 25.15sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m + 25.15sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×3 + 25.15sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×3 + 25.15sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×3 + 25.15sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×3 + 25.15sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 25.15sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 25.16sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m + 25.16sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×3 + 25.16sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×3 + 25.16sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×3 + 25.16sERRORros2_control_nodeFailed shutting down the controllers.[0m ×3 + 25.16sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×3 + 25.16sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×3 + 25.16sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×3 + 25.16sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×3 + 25.16sINFOros2_control_nodeShutting down the controller manager.[0m ×3 + 25.16sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 25.16sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×6 + 25.16sERRORodom_qos_relay.pyTraceback (most recent call last): ×3 + 25.16sINFOodom_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> ×3 + 25.16sINFOodom_qos_relay.pymain() ×3 + 25.16sINFOodom_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 ×3 + 25.16sINFOodom_qos_relay.pyrclpy.spin(node) ×3 + 25.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×3 + 25.16sINFOodom_qos_relay.pyexecutor.spin_once() ×3 + 25.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×3 + 25.16sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×3 + 25.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×3 + 25.16sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×3 + 25.16sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×3 + 25.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×3 + 25.16sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×3 + 25.16sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×3 + 25.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 781, in _wait_for_ready_callbacks ×3 + 25.16sINFOodom_qos_relay.pywait_set.wait(timeout_nsec) ×3 + 25.16sINFOodom_qos_relay.pyKeyboardInterrupt ×3 + 25.16sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 25.17sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 25.17sINFOros2_control_node[2026-08-27 23:54:11.938] [warning] No force/torque sensor configured. The VFC will ignore force references. + 25.17sERRORros2_control_nodeCaught exception in callback for transition 10[0m ×3 + 25.17sERRORros2_control_nodeOriginal error: could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:404[0m ×3 + 25.17sERRORros2_control_nodeFailed to finish transition 1. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:423, at ./src/rcl_lifecycle.c:368)[0m ×3 + 25.17sERRORros2_control_nodeAfter configuring, controller 'velocity_force_controller' is in state 'configuring' , expected inactive.[0m + 25.17sINFOros2_control_nodeAsync messages lost 0[0m ×6 + 25.17sINFOros2_control_nodepublish_async_failures_ 0[0m ×6 + 25.17sERRORros2[91mFailed to configure controller[0m[0m ×3 + 25.44sERRORcomponent_container_isolated-2process has died [pid 7752, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_39ncgkit --params-file /tmp/launch_params_nacdrd3u -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. + 25.73sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 7870] + 25.76sINFOmove_joint_resampler_node-24process has finished cleanly [pid 7869] + 25.83sINFOcomponent_container_mt-27process has finished cleanly [pid 7872] + 25.84sINFOobjective_server_node[2026-08-27 23:54:12.643] [moveit_pro_license] [info] + 25.84sINFOobjective_server_node* Application has successfully terminated ×3 + 25.85sINFOwaypoint_manager_node-23process has finished cleanly [pid 7868] + 25.86sINFOparameter_manager_node-22process has finished cleanly [pid 7851] + 25.88sINFOobjective_server_node_main-26process has finished cleanly [pid 7871] + 25.88sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×3 + 25.99sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7758] + 26.01sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 7757] + 26.09sINFOstatic_transform_publisher-4process has finished cleanly [pid 7754] + 26.11sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7756] + 26.12sINFOstatic_transform_publisher-3process has finished cleanly [pid 7753] + 26.13sERRORodom_qos_relay.py-5process has died [pid 7755, exit code -2, 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']. + 26.27sERRORros2-17process has died [pid 7844, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 26.34sERRORcomponent_container_isolated-1process has died [pid 7751, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_39ncgkit --params-file /tmp/launch_params_pucjzq_t -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. + 27.32sINFOweb_bridge-31process has finished cleanly [pid 7878] + 27.32sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×3 + 27.58sINFOros2_control_node-9process has finished cleanly [pid 7759] +330.40sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-27-23-59-13-700621-142c30acf582-8710 ×2 +344.31sINFOstatic_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' +344.31sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' +344.39sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +344.40sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +344.40sINFOcontroller_managerupdate rate is 600 Hz +344.40sINFOcontroller_managerOverruns handling is : enabled +344.40sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +344.40sWARNcontroller_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. +344.57sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +344.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +344.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472160 ms (missed cycles : 2). +344.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +344.60sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +344.61sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +344.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +344.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +344.65sINFOcontroller_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. +344.66sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +344.69sINFOcontroller_serverCreating controller server +344.69sINFOros2_control_node-9process started with pid [8768] ×2 +344.70sINFOmove_group-21process started with pid [8875] ×2 +344.70sINFOparameter_manager_node-22process started with pid [8876] ×2 +344.70sINFOwaypoint_manager_node-23process started with pid [8877] ×2 +344.71sINFOmove_joint_resampler_node-24process started with pid [8878] ×2 +344.71sINFOmove_end_effector_resampler_node-25process started with pid [8879] ×2 +344.71sINFOobjective_server_node_main-26process started with pid [8882] ×2 +344.71sINFOcomponent_container_mt-27process started with pid [8883] ×2 +344.71sINFOcomponent_container_mt-28process started with pid [8884] ×2 +344.71sINFOexecute_objective_bridge-29process started with pid [8885] ×2 +344.71sINFOui_teleop_bridge-30process started with pid [8886] ×2 +344.71sINFOweb_bridge-31process started with pid [8887] ×2 +344.71sINFOtf2_web_republisher_node-32process started with pid [8888] ×2 +344.71sINFOvideo_server-33process started with pid [8891] ×2 +344.71sINFOweb_bridge_auth_proxy-34process started with pid [8893] ×2 +344.71sINFOweb_video_auth_proxy-35process started with pid [8894] ×2 +344.73sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +344.73sINFOcomponent_container_isolated-1process started with pid [8760] ×2 +344.74sINFOcomponent_container_isolated-2process started with pid [8761] ×2 +344.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +344.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +344.74sINFOstatic_transform_publisher-3process started with pid [8762] ×2 +344.74sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +344.74sINFOstatic_transform_publisher-4process started with pid [8763] ×2 +344.74sINFOodom_qos_relay.py-5process started with pid [8764] ×2 +344.74sINFOforward_stereo_publisher.py-6process started with pid [8765] ×2 +344.74sINFOscan_to_scan_filter_chain-7process started with pid [8766] ×2 +344.74sINFOscan_to_scan_filter_chain-8process started with pid [8767] ×2 +344.74sINFOros2-10process started with pid [8864] ×2 +344.74sINFOros2-11process started with pid [8865] ×2 +344.74sINFOros2-12process started with pid [8866] ×2 +344.74sINFOros2-13process started with pid [8867] ×2 +344.74sINFOros2-14process started with pid [8868] ×2 +344.74sINFOros2-15process started with pid [8869] ×2 +344.74sINFOros2-16process started with pid [8870] ×2 +344.74sINFOros2-17process started with pid [8871] ×2 +344.74sINFOros2-18process started with pid [8872] ×2 +344.75sINFOros2-19process started with pid [8873] ×2 +344.75sINFOros2-20process started with pid [8874] ×2 +344.75sINFOlocal_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. +344.76sINFOlocal_costmap.local_costmapCreating Costmap +344.76sINFOmap_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. +344.76sINFOmap_serverCreating +344.79sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +344.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +344.80sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +344.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +344.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +344.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +344.84sINFOsmoother_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. +344.84sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +344.87sINFOsmoother_serverCreating smoother server +344.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +344.91sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +344.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +344.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +344.91sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +344.91sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +344.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472160 ms (missed cycles : 2).[0m ×2 +344.94sINFOlifecycle_manager_localizationCreating +344.94sINFOplanner_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. +344.97sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +344.97sINFOplanner_serverCreating +344.98sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +344.98sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +344.98sINFOmap_serverConfiguring +345.02sINFOglobal_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. +345.03sINFOglobal_costmap.global_costmapCreating Costmap +345.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +345.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +345.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +345.07sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +345.07sINFOamclConfiguring +345.08sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +345.08sINFOmap_serverActivating +345.08sINFOmap_serverCreating bond (map_server) to lifecycle manager. +345.11sINFObehavior_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. +345.13sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +345.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +345.14sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +345.14sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +345.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +345.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +345.20sINFOlifecycle_manager_localizationServer map_server connected with bond. +345.20sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +345.20sINFOamclActivating +345.20sINFOamclSubscribed to initial_pose_topic: /initialpose +345.20sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +345.20sINFObt_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. +345.22sINFOamclSubscribed to map_topic: /map +345.22sINFOamclSubscribed to scan_topic: /scan_merged +345.22sINFOamclCreated reinitialize_global_localization service +345.22sINFOamclCreated request_nomotion_update service +345.22sINFOamclA new map was received +345.22sINFOamclInitializing particle filter instance +345.23sINFObt_navigatorCreating +345.23sINFOrobot_state_publisherRobot initialized +345.23sINFOcontroller_managerReceived robot description from topic. +345.23sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +345.24sINFOvideo_server2026/08/27 23:59:32 INF MediaMTX v1.19.3, linux, amd64 ×2 +345.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +345.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +345.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +345.28sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +345.29sINFOvideo_server2026/08/27 23:59:32 INF configuration loaded from /tmp/moveit-webrtc-_wesij48/mediamtx.yml ×2 +345.29sINFOvideo_server2026/08/27 23:59:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +345.29sINFOvideo_server2026/08/27 23:59:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +345.30sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +345.31sWARNlaser_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. +345.32sINFOwaypoint_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. +345.33sINFOwaypoint_followerCreating +345.33sWARNlaser_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. +345.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +345.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +345.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +345.38sINFOvelocity_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. +345.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +345.39sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +345.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +345.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +345.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +345.44sINFOlifecycle_manager_navigationCreating +345.46sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +345.47sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +345.47sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +345.47sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +345.47sINFOcontroller_serverConfiguring controller interface +345.47sINFOcontroller_servergetting progress checker plugins.. +345.47sINFOcontroller_servergetting goal checker plugins.. +345.47sINFOcontroller_serverController frequency set to 20.0000Hz +345.47sINFOlocal_costmap.local_costmapConfiguring +345.50sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +345.53sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +345.55sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +345.55sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +345.55sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +345.60sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +345.61sINFOcontroller_serverController Server has progress_checker progress checkers available. +345.61sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +345.62sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +345.62sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +345.65sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +345.66sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +345.66sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +345.66sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +345.66sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +345.66sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +345.66sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +345.66sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +345.66sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +345.67sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +345.67sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +345.67sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +345.67sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +345.67sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +345.67sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +345.67sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +345.67sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.61173 seconds +345.67sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +345.67sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +345.67sINFOmove_groupLoaded robot model in 0.61173 seconds[0m ×2 +345.70sINFOcontroller_serverOptimizer reset ×2 +345.71sINFOcontroller_serverController Server has FollowPath controllers available. +345.72sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +345.72sINFOsmoother_serverConfiguring smoother server +345.74sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +345.75sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +345.76sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +345.77sINFOplanner_serverConfiguring +345.77sINFOglobal_costmap.global_costmapConfiguring +345.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.578470 ms (missed cycles : 6). +345.78sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +345.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.578470 ms (missed cycles : 6).[0m ×2 +345.79sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +345.79sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +345.79sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +345.80sINFOamclParticle filter initialization completed +345.80sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +345.81sINFOamclInitializing particles from estimated pose and covariance +345.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +345.83sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +345.83sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +345.83sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +345.86sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +345.87sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +345.87sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +345.87sINFOplanner_serverPlanner Server has GridBased planners available. +345.89sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +345.89sINFObehavior_serverConfiguring +345.89sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +345.90sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +345.90sINFOlifecycle_manager_localizationServer amcl connected with bond. +345.90sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +345.90sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +345.90sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +345.91sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +345.91sINFOamclThe bond connection to the lifecycle manager is now fully formed +345.92sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +345.93sINFObehavior_serverConfiguring spin +345.94sINFObehavior_serverConfiguring backup +345.95sINFObehavior_serverConfiguring drive_on_heading +345.96sINFObehavior_serverConfiguring assisted_teleop +345.98sINFObehavior_serverConfiguring wait +345.99sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +345.99sINFObt_navigatorConfiguring +346.00sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +346.03sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application +346.25sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +346.37sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +346.37sINFOwaypoint_followerConfiguring +346.42sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +346.43sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +346.43sINFOvelocity_smootherConfiguring velocity smoother +346.45sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +346.45sINFOcontroller_serverActivating +346.45sINFOlocal_costmap.local_costmapActivating +346.45sINFOlocal_costmap.local_costmapChecking transform +346.45sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find 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 +346.48sINFOwaypoint_manager_nodeLoaded robot model in 0.412907 seconds[0m ×2 +346.64sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +346.64sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +346.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856054 ms (missed cycles : 2). +346.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856054 ms (missed cycles : 2).[0m ×2 +347.05sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +347.05sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.05sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.05sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.05sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.46sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +347.54sINFOmove_group[2026-08-27 23:59:34.345] [moveit_pro_license] [info] ×2 +347.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +347.99sINFOwaypoint_manager_node[2026-08-27 23:59:34.793] [moveit_pro_license] [info] ×2 +348.00sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +348.00sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +348.00sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +348.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +348.00sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +348.00sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +348.01sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +348.01sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +348.01sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +348.01sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +348.01sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +348.04sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +348.04sINFOcontroller_managerActivating component 'ur_mujoco_control'. +348.04sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +348.04sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +348.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985420 ms (missed cycles : 2). +348.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985420 ms (missed cycles : 2).[0m ×2 +348.22sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +348.22sINFOcontroller_managerLoading controller 'joint_velocity_controller' +348.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn +348.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn [0m ×2 +348.41sINFOobjective_server_node[2026-08-27 23:59:35.220] [moveit_pro_license] [info] ×2 +348.42sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +348.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +348.51sINFOobjective_server_nodeLoaded robot model in 0.0338013 seconds[0m ×2 +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +348.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +348.75sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +348.78sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +348.78sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +348.78sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +348.78sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +348.79sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +348.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +348.94sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +348.98sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +349.04sINFOros2_control_node[2026-08-27 23:59:35.849] [info] Controller state will be published at 20 Hz. ×2 +349.04sINFOros2_control_node[2026-08-27 23:59:35.851] [info] JointVelocityController 'on_configure' succeeded. ×2 +349.06sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +349.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.08sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918742 ms (missed cycles : 2). +349.08sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +349.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918742 ms (missed cycles : 2).[0m ×2 +349.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +349.17sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +349.18sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +349.18sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +349.20sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +349.29sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787875174.975 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +349.35sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +349.37sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +349.37sINFOcontroller_managerLoading controller 'vacuum_gripper' +349.37sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn +349.37sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn [0m ×2 +349.39sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +349.42sINFOros2-19process has finished cleanly [pid 8873] ×2 +349.44sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +349.44sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +349.44sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +349.45sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +349.45sINFOcontroller_managerSuccessfully switched controllers! ×2 +349.46sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +349.63sINFOcomponent_container_mtLoaded robot model in 0.441066 seconds[0m ×2 +349.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +349.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +349.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn +349.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn [0m ×2 +349.87sINFOros2-14process has finished cleanly [pid 8868] ×2 +349.97sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +349.97sINFOmove_groupMoveGroup debug mode is ON +349.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +349.98sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +349.98sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +349.99sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +349.99sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +349.99sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +350.14sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ******************************************************** +350.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499063 ms (missed cycles : 2). +350.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499063 ms (missed cycles : 2).[0m ×2 +350.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.18sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.19sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +350.29sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +350.29sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +350.29sERRORcontroller_managerCaught exception of type : St13runtime_error while loading the controller 'platform_velocity_controller_nav2' of plugin type 'clearpath_mecanum_drive_controller/MecanumDriveController': ament_index_cpp::get_resource() resource name must not be empty +350.33sINFOros2-16process has finished cleanly [pid 8870] ×2 +350.34sFATALspawner_platform_velocity_controller_nav2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m +350.39sINFOcomponent_container_mt[2026-08-27 23:59:37.198] [moveit_pro_license] [info] ×2 +350.66sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +350.66sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +350.70sERRORros2-15process has died [pid 8869, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. ×2 +350.76sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn +350.76sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn [0m ×2 +350.83sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +350.83sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +351.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030865 ms (missed cycles : 2). +351.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030865 ms (missed cycles : 2).[0m ×2 +351.33sINFOros2_control_node[2026-08-27 23:59:38.139] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +351.33sINFOros2_control_node[2026-08-27 23:59:38.141] [info] Controller state will be published at 10 Hz. ×2 +351.34sINFOros2_control_node[2026-08-27 23:59:38.143] [info] VelocityForceController 'on_configure' succeeded. ×2 +351.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +351.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' +351.69sERRORcontroller_managerCaught exception of type : St13runtime_error while loading the controller 'platform_velocity_controller' of plugin type 'clearpath_mecanum_drive_controller/MecanumDriveController': ament_index_cpp::get_resource() resource name must not be empty +351.72sFATALspawner_platform_velocity_controller[91mFailed loading controller [1mplatform_velocity_controller[0m +351.73sINFOros2-18process has finished cleanly [pid 8872] ×2 +351.89sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787875177.580 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +352.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +352.16sINFOcontroller_managerLoading controller 'velocity_force_controller' +352.17sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn +352.17sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn [0m ×2 +352.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619381 ms (missed cycles : 3). +352.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619381 ms (missed cycles : 3).[0m ×2 +352.23sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +352.23sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +352.24sERRORros2-13process has died [pid 8867, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. ×2 +353.10sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +353.10sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +353.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn +353.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +353.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +353.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +353.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +353.19sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +353.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948266 ms (missed cycles : 3). +353.28sINFOros2-17process has finished cleanly [pid 8871] ×2 +353.36sINFOweb_video_auth_proxy-35process has finished cleanly [pid 8894] ×2 +353.36sINFOweb_bridge_auth_proxy-34process has finished cleanly [pid 8893] ×2 +353.39sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 5.077ms +353.44sINFOvideo_server-33process has finished cleanly [pid 8891] ×2 +353.45sINFOlocal_costmap.local_costmapstart +353.56sWARNcontroller_serverParameter controller_server.verbose not found +353.56sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +353.58sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +353.58sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +353.59sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn +353.65sINFOros2-12process has finished cleanly [pid 8866] ×2 +353.67sINFOlifecycle_manager_navigationServer controller_server connected with bond. +353.67sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +353.67sINFOsmoother_serverActivating +353.67sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +353.68sINFOtf2_web_republisher_node-32process has finished cleanly [pid 8888] ×2 +353.68sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +353.69sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +353.76sINFOros2-20sending signal 'SIGINT' to process[ros2-20] ×2 +353.77sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787875180.275 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +353.78sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +353.78sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +353.78sINFOplanner_serverActivating +353.78sINFOglobal_costmap.global_costmapActivating +353.78sINFOglobal_costmap.global_costmapChecking transform +353.78sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787875180.303854 but the earliest data is at time 1787875181.075350, when looking up transform from frame [ridgeback_base_link] to frame [map] ×19 +353.78sINFOcomponent_container_mt-28process has finished cleanly [pid 8884] ×2 +353.81sERRORmove_group-21process has died [pid 8875, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_3q0op4r6 --params-file /tmp/launch_params__ed2xdql --params-file /tmp/launch_params_i2y9ispd --params-file /tmp/launch_params_x2rcw5m6 --params-file /tmp/launch_params_poc3nzu4 --params-file /tmp/launch_params_h3roffm3']. ×2 +353.86sINFOros2-11sending signal 'SIGINT' to process[ros2-11] ×2 +353.86sINFOui_teleop_bridge-30process has finished cleanly [pid 8886] ×2 +353.88sINFOros2-10sending signal 'SIGINT' to process[ros2-10] ×2 +353.89sINFOexecute_objective_bridge-29process has finished cleanly [pid 8885] ×2 +353.91sINFOcontroller_managerShutdown request received.... +353.91sINFOcontroller_managerShutting down all controllers in the controller manager. +353.91sINFOcontroller_managerShutting down controller 'velocity_force_controller' +353.91sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' +353.91sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' +353.91sINFOcontroller_managerDeactivating controller 'vacuum_gripper' +353.91sINFOcontroller_managerShutting down controller 'vacuum_gripper' +353.91sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' +353.91sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' +353.91sINFOcontroller_managerShutting down controller 'joint_velocity_controller' +353.91sERRORcontroller_managerFailed shutting down the controllers. +353.91sINFOcontroller_managerShutting down the controller manager. +354.08sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) +354.08sINFOmap_serverDeactivating +354.08sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 +354.09sINFOmap_serverCleaning up +354.09sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) +354.09sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m +354.10sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) +354.10sINFOcontroller_serverDeactivating +354.10sINFOlocal_costmap.local_costmapDeactivating +354.10sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn [0m ×2 +354.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948266 ms (missed cycles : 3).[0m ×2 +354.10sINFOros2_control_node[2026-08-27 23:59:39.526] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +354.10sINFOros2_control_node[2026-08-27 23:59:39.528] [info] Controller state will be published at 10 Hz. ×2 +354.10sINFOros2_control_node[2026-08-27 23:59:39.529] [info] VelocityForceController 'on_configure' succeeded. ×2 +354.11sERRORamclThe bond connection to the lifecycle manager has been broken +354.11sINFOvideo_server2026/08/27 23:59:40 INF shutting down gracefully ×2 +354.11sINFOvideo_server2026/08/27 23:59:40 INF [WebRTC] closing ×2 +354.11sINFOvideo_server2026/08/27 23:59:40 INF [RTSP] closing ×2 +354.11sINFOvideo_server2026/08/27 23:59:40 INF waiting for running hooks ×2 +354.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nseoyaok --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_f03t2c3t --params-file /tmp/launch_params_b6spwahn [0m ×2 +354.13sERRORmove_groupStack trace (most recent call last) in thread 9505: ×2 +354.13sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2487f13a63, in __clone ×2 +354.13sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2487e86aa3, in ×2 +354.13sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2488118db3, in ×2 +354.13sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f2488889a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 +354.13sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24884aa620, in rclcpp::Rate::sleep() ×2 +354.13sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24883ecd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 +354.13sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24883ae087, in ×2 +354.13sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24880e7390, in __cxa_throw ×2 +354.13sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24880d1a54, in std::terminate() ×2 +354.13sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24880e70d9, in ×2 +354.13sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24880d1ff4, in ×2 +354.13sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2487e128fe, in abort ×2 +354.13sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2487e2f27d, in raise ×2 +354.13sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2487e88b2c, in pthread_kill ×2 +354.13sERRORmove_groupAborted (Signal sent by tkill() 8875 0) ×2 +354.14sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 +354.15sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 +354.16sINFOcontroller_serverCleaning up +354.16sINFOlocal_costmap.local_costmapCleaning up +354.21sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) +354.21sINFOsmoother_serverDeactivating +354.21sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 +354.21sERRORros2_control_nodeAfter configuring, controller 'arm_only_joint_velocity_controller' is in state 'configuring' , expected inactive.[0m ×2 +354.21sERRORspawner_arm_only_joint_velocity_controller[91mFailed to configure controller[0m +354.22sINFOsmoother_serverCleaning up +354.23sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) +354.23sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. +354.23sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) +354.23sINFObehavior_serverCleaning up +354.23sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. +354.23sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) +354.23sINFObt_navigatorCleaning up +354.27sINFObt_navigatorCompleted Cleaning up +354.27sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. +354.27sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) +354.27sINFOwaypoint_followerCleaning up +354.28sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. +354.28sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) +354.28sINFOvelocity_smootherCleaning up +354.28sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. +354.28sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) +354.31sERRORcomponent_container_isolated-2process has died [pid 8761, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_3id2c1nv --params-file /tmp/launch_params_1h5ieusn -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 +354.65sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 8879] ×2 +354.68sINFOmove_joint_resampler_node-24process has finished cleanly [pid 8878] ×2 +354.77sINFOcomponent_container_mt-27process has finished cleanly [pid 8883] ×2 +354.78sINFOwaypoint_manager_node-23process has finished cleanly [pid 8877] ×2 +354.78sINFOparameter_manager_node-22process has finished cleanly [pid 8876] ×2 +354.83sINFOobjective_server_node[2026-08-27 23:59:41.641] [moveit_pro_license] [info] ×2 +354.88sINFOobjective_server_node_main-26process has finished cleanly [pid 8882] ×2 +354.98sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8767] ×2 +355.00sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 8766] ×2 +355.07sINFOstatic_transform_publisher-4process has finished cleanly [pid 8763] ×2 +355.09sINFOstatic_transform_publisher-3process has finished cleanly [pid 8762] ×2 +355.09sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 8765] ×2 +355.13sERRORodom_qos_relay.py-5process has died [pid 8764, exit code -2, 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']. ×2 +355.35sERRORros2-20process has died [pid 8874, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller']. ×2 +355.37sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +356.04sINFOweb_bridge-31process has finished cleanly [pid 8887] ×2 +357.62sINFOros2_control_node-9process has finished cleanly [pid 8768] ×2 +358.25sERRORros2-11process[ros2-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 +358.25sERRORros2-10process[ros2-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 +358.26sINFOros2-11sending signal 'SIGTERM' to process[ros2-11] ×2 +358.28sINFOros2-10sending signal 'SIGTERM' to process[ros2-10] ×2 +358.29sERRORros2-11process has died [pid 8865, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. ×2 +358.29sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 +358.29sERRORros2-10process has died [pid 8864, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. ×2 +358.31sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 +363.25sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 +363.27sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 +363.27sERRORcomponent_container_isolated-1process has died [pid 8760, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_3id2c1nv --params-file /tmp/launch_params_83j1tvqb -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 +535.45sFATALspawner_force_torque_sensor_broadcasterCould not contact service /controller_manager/list_controllers

▾/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
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− 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
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− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	skipped
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− 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
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− skipped	—	execute_mtc_solution_jtc.xml	0.0s	skipped
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− skipped	—	interpolate_to_joint_state.xml	0.0s	skipped
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− 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
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− skipped	—	move_to_pose_jtc.xml	0.0s	skipped
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− 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
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− skipped	—	record_teleop_trajectory.xml	0.0s	skipped
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− skipped	—	track_moving_frame.xml	0.0s	skipped
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▾/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
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▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	skipped
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− skipped	—	interactive_marker_visualization_example.xml	0.0s	skipped
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− skipped	—	visualize_tf.xml	0.0s	skipped
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