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	325.7s	122 errors · 378 warnings · 1935 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/2026-08-28-00-12-46-295480-30b1d2164f0d-7658 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 14.26sINFOros2_control_node-9process started with pid [7716] + 14.26sINFOmove_group-21process started with pid [7805] + 14.26sINFOparameter_manager_node-22process started with pid [7806] + 14.26sINFOwaypoint_manager_node-23process started with pid [7807] + 14.27sINFOmove_joint_resampler_node-24process started with pid [7828] + 14.27sINFOmove_end_effector_resampler_node-25process started with pid [7829] + 14.27sINFOobjective_server_node_main-26process started with pid [7830] + 14.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 14.27sINFOcomponent_container_mt-27process started with pid [7831] + 14.27sINFOcomponent_container_mt-28process started with pid [7832] + 14.27sINFOexecute_objective_bridge-29process started with pid [7833] + 14.27sINFOui_teleop_bridge-30process started with pid [7834] + 14.27sINFOweb_bridge-31process started with pid [7835] + 14.27sINFOtf2_web_republisher_node-32process started with pid [7836] + 14.27sINFOvideo_server-33process started with pid [7837] + 14.27sINFOweb_bridge_auth_proxy-34process started with pid [7838] + 14.27sINFOweb_video_auth_proxy-35process started with pid [7841] + 14.29sINFOcomponent_container_isolated-1process started with pid [7708] + 14.29sINFOcomponent_container_isolated-2process started with pid [7709] + 14.29sINFOstatic_transform_publisher-3process started with pid [7710] + 14.29sINFOstatic_transform_publisher-4process started with pid [7711] + 14.29sINFOodom_qos_relay.py-5process started with pid [7712] + 14.29sINFOforward_stereo_publisher.py-6process started with pid [7713] + 14.29sINFOscan_to_scan_filter_chain-7process started with pid [7714] + 14.29sINFOscan_to_scan_filter_chain-8process started with pid [7715] + 14.29sINFOros2-10process started with pid [7794] + 14.29sINFOros2-11process started with pid [7795] + 14.29sINFOros2-12process started with pid [7796] + 14.29sINFOros2-13process started with pid [7797] + 14.29sINFOros2-14process started with pid [7798] + 14.29sINFOros2-15process started with pid [7799] + 14.29sINFOros2-16process started with pid [7800] + 14.29sINFOros2-17process started with pid [7801] + 14.29sINFOros2-18process started with pid [7802] + 14.29sINFOros2-19process started with pid [7803] + 14.30sINFOros2-20process started with pid [7804] + 14.40sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 14.40sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 14.40sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 14.40sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 14.40sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 14.41sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 14.41sERRORros2_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 + 14.41sERRORros2_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 + 14.41sINFOros2_control_node)[0m ×6 + 14.41sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 14.41sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 14.41sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 14.41sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 14.41sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 14.41sWARNros2_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 + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709346 ms (missed cycles : 5).[0m + 14.41sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 14.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 14.45sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 14.46sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 14.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 14.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.56sINFOcomponent_container_mtRobot initialized[0m ×3 + 14.58sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 14.58sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 14.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 14.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 14.61sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 14.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 14.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 14.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 14.68sINFOcomponent_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 + 14.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 14.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.86sINFOmove_groupLoaded robot model in 0.28389 seconds[0m + 14.87sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.87sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.90sINFOlaunch_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 + 14.91sINFOvideo_server2026/08/28 00:13:04 INF MediaMTX v1.19.3, linux, amd64 + 14.91sINFOvideo_server2026/08/28 00:13:04 INF configuration loaded from /tmp/moveit-webrtc-6wrqvjrg/mediamtx.yml + 14.92sINFOvideo_server2026/08/28 00:13:04 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 14.92sINFOvideo_server2026/08/28 00:13:04 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 15.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 15.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 15.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 15.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520236 ms (missed cycles : 2).[0m + 15.37sINFOwaypoint_manager_nodeLoaded robot model in 0.463395 seconds[0m + 15.37sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.37sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.67sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 15.67sWARNmove_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 + 15.67sWARNmove_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 + 15.69sWARNmove_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 + 15.69sWARNmove_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 + 15.69sWARNmove_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 + 15.69sWARNmove_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 + 15.69sWARNmove_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 + 15.69sWARNmove_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 + 15.70sWARNmove_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 + 15.70sWARNmove_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 + 16.16sINFOmove_group[2026-08-28 00:13:05.935] [moveit_pro_license] [info] + 16.16sINFOmove_group************************************************* ×6 + 16.16sINFOmove_group* MoveIt Pro License ×3 + 16.16sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.36sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.39sWARNwaypoint_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 + 16.40sWARNwaypoint_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 + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929440 ms (missed cycles : 2).[0m + 16.42sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 16.42sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 16.55sINFOros2_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 + 16.55sINFOros2_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 + 16.80sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 16.84sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 16.84sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 16.84sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 16.85sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 16.85sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 16.85sINFOmove_groupStopped publishing maintained planning scene.[0m ×4 + 16.86sINFOmove_groupStarting planning scene monitor[0m ×3 + 16.86sINFOmove_groupListening to '/planning_scene'[0m ×3 + 16.86sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 16.86sINFOmove_groupListening to 'collision_object'[0m ×3 + 16.86sINFOwaypoint_manager_node[2026-08-28 00:13:06.629] [moveit_pro_license] [info] + 16.86sINFOwaypoint_manager_node************************************************* ×6 + 16.86sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 16.86sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.86sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 17.35sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 17.35sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.36sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 17.65sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 17.65sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 17.65sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 17.65sWARNros2_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 + 17.65sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 17.65sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 17.66sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 17.66sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 17.66sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×3 + 17.66sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×3 + 17.66sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×3 + 17.66sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×3 + 17.66sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×3 + 17.66sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×3 + 17.66sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×3 + 17.66sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×3 + 17.66sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×3 + 17.66sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 17.66sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 17.66sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 17.66sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 17.66sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 17.66sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 17.66sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 17.66sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 17.66sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 17.66sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 17.66sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 17.66sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 17.66sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 17.66sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 17.66sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 17.66sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 17.66sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 17.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 17.81sERRORros2_control_nodeCaught exception of type : St13runtime_error while loading the controller 'platform_velocity_controller_nav2' of plugin type 'clearpath_mecanum_drive_controller/MecanumDriveController': ×3 + 17.81sINFOros2_control_nodeament_index_cpp::get_resource() resource name must not be empty[0m ×6 + 17.81sFATALros2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m[0m ×3 + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771450 ms (missed cycles : 2).[0m + 17.91sINFOobjective_server_node[2026-08-28 00:13:07.684] [moveit_pro_license] [info] + 17.91sINFOobjective_server_node************************************************* ×12 + 17.91sINFOobjective_server_node* MoveIt Pro License ×6 + 17.91sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.93sINFOros2_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 + 17.93sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 17.93sWARNros2_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 + 17.98sINFOobjective_server_nodeLoaded robot model in 0.0291193 seconds[0m + 17.98sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 17.98sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 18.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 18.09sINFOros2[ros2run]: Process exited with failure 1 ×8 + 18.11sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 18.11sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 18.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_m7czfdzl --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_qtym42nv --params-file /tmp/launch_params_zpt2_n3n [0m + 18.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 18.14sERRORros2-15process has died [pid 7799, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. + 18.18sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 18.18sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 18.18sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 18.18sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 18.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×9 + 18.19sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 18.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.26sWARNcomponent_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 + 18.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.35sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.37sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 18.37sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.37sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.38sINFOcomponent_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 + 18.38sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 18.53sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 18.53sWARNobjective_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 + 18.53sWARNobjective_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 + 18.53sWARNobjective_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 + 18.53sWARNobjective_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 + 18.53sWARNobjective_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 + 18.53sWARNobjective_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 + 18.53sWARNobjective_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 + 18.53sWARNobjective_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 + 18.53sWARNobjective_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 + 18.53sWARNobjective_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 + 18.58sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 18.58sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 18.60sINFOros2-14process has finished cleanly [pid 7798] + 18.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.61sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.63sINFOobjective_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 + 18.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.63sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 18.63sINFOcomponent_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 + 18.65sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 18.65sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 18.65sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 18.65sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 18.65sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 18.65sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 18.65sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 18.65sINFOcomponent_container_mtLoaded robot model in 0.393956 seconds[0m + 18.65sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 18.65sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.70sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m7czfdzl --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_qtym42nv --params-file /tmp/launch_params_zpt2_n3n [0m + 18.76sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 18.76sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 18.76sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 18.76sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 18.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×11 + 18.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×11 + 18.80sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 18.80sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 18.80sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 18.81sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 18.81sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 18.81sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 18.81sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 18.82sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 18.85sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 18.91sINFOmove_group ×12 + 18.91sINFOmove_group******************************************************** ×6 + 18.91sINFOmove_group* MoveGroup using: ×3 + 18.91sINFOmove_group* - apply_planning_scene_service ×3 + 18.91sINFOmove_group* - clear_octomap_service ×3 + 18.91sINFOmove_group* - get_group_urdf ×3 + 18.91sINFOmove_group* - load_geometry_from_file ×3 + 18.91sINFOmove_group* - get_planning_scene_service ×3 + 18.91sINFOmove_group* - kinematics_service ×3 + 18.91sINFOmove_group* - save_geometry_to_file ×3 + 18.91sINFOmove_group* - GetPlanningGroups ×3 + 18.91sINFOmove_group* - URDFPlanningSceneCapability ×3 + 18.91sINFOmove_group[0m ×3 + 18.91sINFOmove_group[92mYou can start planning now![0m ×3 + 19.16sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 19.19sWARNobjective_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.19sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.20sWARNcomponent_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 + 19.21sWARNcomponent_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 + 19.21sWARNcomponent_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 + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690519 ms (missed cycles : 2).[0m + 19.30sINFOros2_control_node[2026-08-28 00:13:09.073] [info] Controller state will be published at 20 Hz. + 19.30sINFOros2_control_node[2026-08-28 00:13:09.074] [info] JointVelocityController 'on_configure' succeeded. + 19.37sINFOcomponent_container_mt[2026-08-28 00:13:09.142] [moveit_pro_license] [info] + 19.37sINFOcomponent_container_mt************************************************* ×6 + 19.37sINFOcomponent_container_mt* MoveIt Pro License ×3 + 19.37sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 19.48sWARNros2_control_nodeCamera render tick took 0.61 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 + 19.64sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 19.64sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 19.64sERRORros2_control_nodeCaught exception of type : St13runtime_error while loading the controller 'platform_velocity_controller' of plugin type 'clearpath_mecanum_drive_controller/MecanumDriveController': ×3 + 19.68sINFOros2-19process has finished cleanly [pid 7803] + 19.68sFATALros2[91mFailed loading controller [1mplatform_velocity_controller[0m[0m ×3 + 19.72sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 19.72sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 19.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 19.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 19.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 19.89sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 19.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 20.17sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.17sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 20.18sERRORros2-13process has died [pid 7797, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. + 20.18sERRORlaunchCaught 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 + 21.12sINFOweb_video_auth_proxy-35sending signal 'SIGINT' to process[web_video_auth_proxy-35] ×3 + 21.16sINFOweb_bridge_auth_proxy-34sending signal 'SIGINT' to process[web_bridge_auth_proxy-34] ×3 + 21.20sINFOvideo_server-33sending signal 'SIGINT' to process[video_server-33] ×3 + 21.23sINFOweb_video_auth_proxy-35process has finished cleanly [pid 7841] + 21.23sINFOros2-18process has finished cleanly [pid 7802] + 21.23sINFOtf2_web_republisher_node-32sending signal 'SIGINT' to process[tf2_web_republisher_node-32] ×3 + 21.25sINFOweb_bridge_auth_proxy-34process has finished cleanly [pid 7838] + 21.26sINFOweb_bridge-31sending signal 'SIGINT' to process[web_bridge-31] ×3 + 21.28sINFOvideo_server-33process has finished cleanly [pid 7837] + 21.28sINFOui_teleop_bridge-30sending signal 'SIGINT' to process[ui_teleop_bridge-30] ×3 + 21.31sINFOexecute_objective_bridge-29sending signal 'SIGINT' to process[execute_objective_bridge-29] ×3 + 21.33sINFOcomponent_container_mt-28sending signal 'SIGINT' to process[component_container_mt-28] ×3 + 21.36sINFOcomponent_container_mt-27sending signal 'SIGINT' to process[component_container_mt-27] ×3 + 21.40sINFOobjective_server_node_main-26sending signal 'SIGINT' to process[objective_server_node_main-26] ×3 + 21.43sINFOmove_end_effector_resampler_node-25sending signal 'SIGINT' to process[move_end_effector_resampler_node-25] ×3 + 21.47sINFOmove_joint_resampler_node-24sending signal 'SIGINT' to process[move_joint_resampler_node-24] ×3 + 21.50sINFOwaypoint_manager_node-23sending signal 'SIGINT' to process[waypoint_manager_node-23] ×3 + 21.52sINFOtf2_web_republisher_node-32process has finished cleanly [pid 7836] + 21.54sINFOparameter_manager_node-22sending signal 'SIGINT' to process[parameter_manager_node-22] ×3 + 21.57sINFOmove_group-21sending signal 'SIGINT' to process[move_group-21] ×3 + 21.61sINFOros2-20sending signal 'SIGINT' to process[ros2-20] + 21.65sINFOcomponent_container_mt-28process has finished cleanly [pid 7832] + 21.65sINFOui_teleop_bridge-30process has finished cleanly [pid 7834] + 21.67sINFOros2-17sending signal 'SIGINT' to process[ros2-17] + 21.72sINFOros2-16sending signal 'SIGINT' to process[ros2-16] + 21.74sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 7829] + 21.74sINFOexecute_objective_bridge-29process has finished cleanly [pid 7833] + 21.77sINFOros2-12sending signal 'SIGINT' to process[ros2-12] + 21.79sINFOmove_joint_resampler_node-24process has finished cleanly [pid 7828] + 21.79sINFOcomponent_container_mt-27process has finished cleanly [pid 7831] + 21.82sINFOros2-11sending signal 'SIGINT' to process[ros2-11] + 21.83sINFOwaypoint_manager_node-23process has finished cleanly [pid 7807] + 21.83sINFOobjective_server_node_main-26process has finished cleanly [pid 7830] + 21.83sINFOparameter_manager_node-22process has finished cleanly [pid 7806] + 21.85sINFOros2-10sending signal 'SIGINT' to process[ros2-10] + 21.87sINFOros2_control_node-9sending signal 'SIGINT' to process[ros2_control_node-9] ×3 + 21.89sINFOscan_to_scan_filter_chain-8sending signal 'SIGINT' to process[scan_to_scan_filter_chain-8] ×3 + 21.92sINFOscan_to_scan_filter_chain-7sending signal 'SIGINT' to process[scan_to_scan_filter_chain-7] ×3 + 21.94sINFOforward_stereo_publisher.py-6sending signal 'SIGINT' to process[forward_stereo_publisher.py-6] ×3 + 21.95sINFOmove_group-21process has finished cleanly [pid 7805] + 21.97sINFOodom_qos_relay.py-5sending signal 'SIGINT' to process[odom_qos_relay.py-5] ×3 + 21.99sINFOstatic_transform_publisher-4sending signal 'SIGINT' to process[static_transform_publisher-4] ×3 + 22.01sINFOstatic_transform_publisher-3sending signal 'SIGINT' to process[static_transform_publisher-3] ×3 + 22.03sINFOcomponent_container_isolated-2sending signal 'SIGINT' to process[component_container_isolated-2] ×3 + 22.06sINFOcomponent_container_isolated-1sending signal 'SIGINT' to process[component_container_isolated-1] ×3 + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614129 ms (missed cycles : 3).[0m + 22.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m7czfdzl --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_qtym42nv --params-file /tmp/launch_params_zpt2_n3n [0m + 22.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 22.06sINFOros2_control_node[2026-08-28 00:13:10.560] [warning] No force/torque sensor configured. The VFC will ignore force references. + 22.06sINFOros2_control_node[2026-08-28 00:13:10.562] [info] Controller state will be published at 10 Hz. + 22.06sINFOros2_control_node[2026-08-28 00:13:10.563] [info] VelocityForceController 'on_configure' succeeded. + 22.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 22.06sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 22.06sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.06sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 22.06sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m7czfdzl --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_qtym42nv --params-file /tmp/launch_params_zpt2_n3n [0m + 22.07sINFOvideo_server2026/08/28 00:13:10 INF shutting down gracefully + 22.07sINFOvideo_server2026/08/28 00:13:10 INF [WebRTC] closing + 22.07sINFOvideo_server2026/08/28 00:13:10 INF [RTSP] closing + 22.07sINFOvideo_server2026/08/28 00:13:10 INF waiting for running hooks + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159680 ms (missed cycles : 2).[0m + 22.07sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 22.07sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 22.07sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×3 + 22.07sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 22.07sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×3 + 22.07sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×6 + 22.08sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 22.08sINFOcomponent_container_mtStopping planning scene monitor[0m ×3 + 22.08sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 22.08sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 22.08sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×3 + 22.08sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 22.09sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 22.09sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×3 + 22.09sINFOmove_groupDeleting MoveItCpp[0m + 22.09sINFOmove_groupStopping world geometry monitor[0m + 22.09sINFOmove_groupStopping planning scene monitor[0m + 22.09sINFOobjective_server_node[2026-08-28 00:13:11.472] [moveit_pro_license] [info] + 22.10sINFOobjective_server_node* Application has successfully terminated ×3 + 22.10sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×3 + 22.10sINFOros2_control_node[2026-08-28 00:13:11.598] [info] Controller state will be published at 20 Hz. + 22.10sINFOros2_control_node[2026-08-28 00:13:11.599] [info] JointVelocityController 'on_configure' succeeded. + 22.10sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×3 + 22.10sINFOros2_control_nodeShutdown request received....[0m ×3 + 22.10sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×3 + 22.10sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×3 + 22.10sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m + 22.10sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×3 + 22.10sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×3 + 22.10sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×3 + 22.10sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×3 + 22.10sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×3 + 22.10sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×3 + 22.10sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×3 + 22.10sINFOros2_control_nodeShutting down the controller manager.[0m ×3 + 22.11sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×6 + 22.11sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 7714] + 22.11sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7715] + 22.11sERRORodom_qos_relay.pyTraceback (most recent call last): ×3 + 22.11sINFOodom_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 + 22.11sINFOodom_qos_relay.pymain() ×3 + 22.11sINFOodom_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 + 22.11sINFOodom_qos_relay.pyrclpy.spin(node) ×3 + 22.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×3 + 22.11sINFOodom_qos_relay.pyexecutor.spin_once() ×3 + 22.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×3 + 22.11sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×3 + 22.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×3 + 22.11sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×3 + 22.11sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×3 + 22.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×3 + 22.11sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×3 + 22.11sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×3 + 22.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 781, in _wait_for_ready_callbacks ×3 + 22.11sINFOodom_qos_relay.pywait_set.wait(timeout_nsec) ×3 + 22.11sINFOodom_qos_relay.pyKeyboardInterrupt ×3 + 22.11sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 22.12sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 22.12sINFOros2_control_nodeAsync messages lost 0[0m ×6 + 22.12sINFOros2_control_nodepublish_async_failures_ 0[0m ×6 + 22.19sINFOros2-20process has finished cleanly [pid 7804] + 22.20sINFOstatic_transform_publisher-4process has finished cleanly [pid 7711] + 22.20sINFOstatic_transform_publisher-3process has finished cleanly [pid 7710] + 22.21sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7713] + 22.24sERRORodom_qos_relay.py-5process has died [pid 7712, 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']. + 22.26sERRORcomponent_container_isolated-2process has died [pid 7709, 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_52e9lbq2 --params-file /tmp/launch_params_iv_9bp7g -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. + 23.41sINFOros2_control_node-9process has finished cleanly [pid 7716] + 23.74sINFOweb_bridge-31process has finished cleanly [pid 7835] + 23.74sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×3 + 26.12sERRORros2-17process[ros2-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 26.12sERRORros2-16process[ros2-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 26.13sERRORros2-12process[ros2-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 26.13sERRORros2-11process[ros2-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 26.13sERRORros2-10process[ros2-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 26.14sINFOros2-17sending signal 'SIGTERM' to process[ros2-17] + 26.16sINFOros2-16sending signal 'SIGTERM' to process[ros2-16] + 26.17sERRORros2-17process has died [pid 7801, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 26.17sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×3 + 26.17sERRORros2-16process has died [pid 7800, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller']. + 26.19sINFOros2-12sending signal 'SIGTERM' to process[ros2-12] + 26.20sINFOros2-11sending signal 'SIGTERM' to process[ros2-11] + 26.21sERRORros2-12process has died [pid 7796, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. + 26.22sINFOros2-10sending signal 'SIGTERM' to process[ros2-10] + 26.23sERRORros2-11process has died [pid 7795, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster']. + 26.23sERRORros2-10process has died [pid 7794, exit code -15, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 26.24sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×3 + 31.12sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×3 + 31.14sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×3 + 31.15sERRORcomponent_container_isolated-1process has died [pid 7708, 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_52e9lbq2 --params-file /tmp/launch_params_m4uegm96 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +329.98sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-28-00-18-16-254026-30b1d2164f0d-8633 ×2 +343.92sINFOstatic_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' +343.92sINFOstatic_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' +344.04sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +344.06sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +344.07sINFOcontroller_managerupdate rate is 600 Hz +344.07sINFOcontroller_managerOverruns handling is : enabled +344.07sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +344.07sWARNcontroller_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. +344.13sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +344.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +344.15sINFOros2_control_node-9process started with pid [8691] ×2 +344.15sINFOmove_group-21process started with pid [8771] ×2 +344.15sINFOparameter_manager_node-22process started with pid [8774] ×2 +344.15sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +344.15sINFOwaypoint_manager_node-23process started with pid [8775] ×2 +344.15sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +344.15sINFOmove_joint_resampler_node-24process started with pid [8784] ×2 +344.15sINFOmove_end_effector_resampler_node-25process started with pid [8786] ×2 +344.15sINFOobjective_server_node_main-26process started with pid [8803] ×2 +344.15sINFOcomponent_container_mt-27process started with pid [8804] ×2 +344.16sINFOcomponent_container_mt-28process started with pid [8805] ×2 +344.16sINFOexecute_objective_bridge-29process started with pid [8806] ×2 +344.16sINFOui_teleop_bridge-30process started with pid [8807] ×2 +344.16sINFOweb_bridge-31process started with pid [8808] ×2 +344.16sINFOtf2_web_republisher_node-32process started with pid [8809] ×2 +344.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785356 ms (missed cycles : 2). +344.17sINFOvideo_server-33process started with pid [8810] ×2 +344.17sINFOweb_bridge_auth_proxy-34process started with pid [8811] ×2 +344.17sINFOweb_video_auth_proxy-35process started with pid [8812] ×2 +344.18sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +344.19sINFOcomponent_container_isolated-1process started with pid [8683] ×2 +344.19sINFOcomponent_container_isolated-2process started with pid [8684] ×2 +344.19sINFOstatic_transform_publisher-3process started with pid [8685] ×2 +344.19sINFOstatic_transform_publisher-4process started with pid [8686] ×2 +344.19sINFOodom_qos_relay.py-5process started with pid [8687] ×2 +344.19sINFOforward_stereo_publisher.py-6process started with pid [8688] ×2 +344.19sINFOscan_to_scan_filter_chain-7process started with pid [8689] ×2 +344.19sINFOscan_to_scan_filter_chain-8process started with pid [8690] ×2 +344.19sINFOros2-10process started with pid [8758] ×2 +344.19sINFOros2-11process started with pid [8759] ×2 +344.19sINFOros2-12process started with pid [8762] ×2 +344.19sINFOros2-13process started with pid [8763] ×2 +344.19sINFOros2-14process started with pid [8764] ×2 +344.20sINFOros2-15process started with pid [8765] ×2 +344.20sINFOros2-16process started with pid [8766] ×2 +344.20sINFOros2-17process started with pid [8767] ×2 +344.20sINFOros2-18process started with pid [8768] ×2 +344.20sINFOros2-19process started with pid [8769] ×2 +344.20sINFOros2-20process started with pid [8770] ×2 +344.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +344.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +344.25sINFOcontroller_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. +344.29sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +344.36sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +344.36sINFOcontroller_serverCreating controller server +344.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +344.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785356 ms (missed cycles : 2).[0m ×2 +344.39sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +344.40sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +344.40sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +344.40sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +344.40sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +344.41sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +344.42sINFOmap_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. +344.42sINFOmap_serverCreating +344.45sINFOlocal_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. +344.45sINFOlocal_costmap.local_costmapCreating Costmap +344.46sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +344.47sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +344.48sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +344.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +344.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +344.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +344.51sINFOrobot_state_publisherRobot initialized +344.52sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +344.52sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +344.53sINFOcontroller_managerReceived robot description from topic. +344.53sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +344.53sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +344.53sINFOsmoother_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. +344.55sINFOlifecycle_manager_localizationCreating +344.55sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +344.56sINFOsmoother_serverCreating smoother server +344.57sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +344.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +344.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +344.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +344.58sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +344.60sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +344.60sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +344.60sINFOmap_serverConfiguring +344.61sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +344.61sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +344.67sINFOplanner_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. +344.69sINFOplanner_serverCreating +344.70sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +344.73sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +344.73sINFOamclConfiguring +344.73sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +344.73sINFOglobal_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. +344.74sINFOmap_serverActivating +344.74sINFOmap_serverCreating bond (map_server) to lifecycle manager. +344.74sINFOglobal_costmap.global_costmapCreating Costmap +344.76sINFOvideo_server2026/08/28 00:18:34 INF MediaMTX v1.19.3, linux, amd64 ×2 +344.77sINFOvideo_server2026/08/28 00:18:34 INF configuration loaded from /tmp/moveit-webrtc-1y4qoqmt/mediamtx.yml ×2 +344.77sINFOvideo_server2026/08/28 00:18:34 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +344.77sINFOvideo_server2026/08/28 00:18:34 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +344.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +344.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +344.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +344.79sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.358599 seconds +344.79sINFOmove_groupLoaded robot model in 0.358599 seconds[0m ×2 +344.80sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +344.80sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +344.82sINFObehavior_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. +344.86sINFOlifecycle_manager_localizationServer map_server connected with bond. +344.86sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +344.86sINFOamclActivating +344.86sINFOamclSubscribed to initial_pose_topic: /initialpose +344.86sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +344.86sINFOamclSubscribed to map_topic: /map +344.86sINFOamclSubscribed to scan_topic: /scan_merged +344.87sINFOamclCreated reinitialize_global_localization service +344.88sINFOamclCreated request_nomotion_update service +344.88sINFOamclA new map was received +344.88sINFOamclInitializing particle filter instance +344.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +344.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +344.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +344.93sWARNlaser_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. +344.93sWARNlaser_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. +344.95sINFObt_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. +344.97sINFObt_navigatorCreating +344.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +344.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +344.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +345.02sINFOwaypoint_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. +345.03sINFOwaypoint_followerCreating +345.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +345.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +345.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +345.09sINFOvelocity_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. +345.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +345.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +345.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +345.15sINFOlifecycle_manager_navigationCreating +345.18sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +345.20sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +345.20sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +345.20sINFOcontroller_serverConfiguring controller interface +345.20sINFOcontroller_servergetting progress checker plugins.. +345.20sINFOcontroller_servergetting goal checker plugins.. +345.20sINFOcontroller_serverController frequency set to 20.0000Hz +345.20sINFOlocal_costmap.local_costmapConfiguring +345.21sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +345.23sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +345.27sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +345.27sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +345.28sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +345.33sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +345.34sINFOcontroller_serverController Server has progress_checker progress checkers available. +345.34sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +345.35sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +345.36sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +345.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789497 ms (missed cycles : 2). +345.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789497 ms (missed cycles : 2).[0m ×2 +345.39sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +345.39sINFOwaypoint_manager_nodeLoaded robot model in 0.362158 seconds[0m ×2 +345.41sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +345.41sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +345.42sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +345.42sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +345.42sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +345.42sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +345.43sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +345.43sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +345.45sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +345.45sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +345.46sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +345.47sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +345.47sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +345.48sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +345.48sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +345.48sINFOcontroller_serverOptimizer reset ×2 +345.50sINFOcontroller_serverController Server has FollowPath controllers available. +345.51sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +345.51sINFOsmoother_serverConfiguring smoother server +345.53sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +345.54sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +345.55sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +345.56sINFOplanner_serverConfiguring +345.56sINFOglobal_costmap.global_costmapConfiguring +345.57sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +345.58sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +345.58sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +345.58sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +345.59sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +345.63sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +345.63sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +345.64sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +345.69sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +345.69sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +345.70sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +345.72sINFOplanner_serverPlanner Server has GridBased planners available. +345.75sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +345.76sINFObehavior_serverConfiguring +345.78sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +345.78sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +345.80sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +345.80sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +345.80sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +345.81sINFObehavior_serverConfiguring spin +345.82sINFOamclParticle filter initialization completed +345.82sINFOamclInitializing particles from estimated pose and covariance +345.82sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +345.84sINFObehavior_serverConfiguring backup +345.85sINFObehavior_serverConfiguring drive_on_heading +345.87sINFObehavior_serverConfiguring assisted_teleop +345.87sINFOlifecycle_manager_localizationServer amcl connected with bond. +345.87sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +345.87sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +345.89sINFObehavior_serverConfiguring wait +345.90sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +345.90sINFObt_navigatorConfiguring +345.92sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +345.93sINFOamclThe bond connection to the lifecycle manager is now fully formed +345.94sWARNbt_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 +346.14sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +346.22sWARNwaypoint_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. +346.22sWARNwaypoint_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. +346.23sWARNwaypoint_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. +346.23sWARNwaypoint_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. +346.23sWARNwaypoint_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. +346.24sWARNwaypoint_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. +346.24sWARNwaypoint_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. +346.24sWARNwaypoint_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. +346.24sWARNwaypoint_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. +346.24sWARNwaypoint_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. +346.25sWARNwaypoint_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. +346.25sWARNwaypoint_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. +346.25sWARNwaypoint_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. +346.26sWARNwaypoint_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. +346.26sWARNwaypoint_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. +346.26sWARNwaypoint_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. +346.26sWARNwaypoint_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. +346.26sWARNwaypoint_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. +346.26sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +346.26sWARNwaypoint_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. +346.26sINFOwaypoint_followerConfiguring +346.26sWARNwaypoint_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. +346.27sWARNwaypoint_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. +346.27sWARNwaypoint_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. +346.27sWARNwaypoint_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. +346.27sWARNwaypoint_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. +346.27sWARNwaypoint_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. +346.27sWARNwaypoint_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. +346.27sWARNwaypoint_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. +346.27sWARNwaypoint_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. +346.31sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +346.31sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +346.31sINFOvelocity_smootherConfiguring velocity smoother +346.33sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +346.33sINFOcontroller_serverActivating +346.33sINFOlocal_costmap.local_costmapActivating +346.33sINFOlocal_costmap.local_costmapChecking transform +346.33sINFOlocal_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. ×15 +346.36sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +346.37sWARNmove_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. +346.37sWARNmove_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. +346.37sWARNmove_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. +346.37sWARNmove_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. +346.38sWARNmove_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. +346.38sWARNmove_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. +346.38sWARNmove_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. +346.38sWARNmove_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. +346.38sWARNmove_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. +346.38sWARNmove_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. +346.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254822 ms (missed cycles : 2). +346.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254822 ms (missed cycles : 2).[0m ×2 +346.60sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +346.78sINFOwaypoint_manager_node[2026-08-28 00:18:36.549] [moveit_pro_license] [info] ×2 +346.95sINFOmove_group[2026-08-28 00:18:36.725] [moveit_pro_license] [info] ×2 +347.17sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +347.17sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +347.47sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +347.47sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +347.47sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +347.47sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +347.47sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +347.47sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +347.48sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +347.48sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +347.48sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +347.48sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +347.48sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +347.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404223 ms (missed cycles : 3). +347.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404223 ms (missed cycles : 3).[0m ×2 +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +348.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +348.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +348.07sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +348.08sINFOcontroller_managerActivating component 'ur_mujoco_control'. +348.08sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +348.08sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +348.09sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +348.11sINFOobjective_server_node[2026-08-28 00:18:37.881] [moveit_pro_license] [info] ×2 +348.12sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +348.12sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +348.12sERRORcontroller_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 +348.13sFATALspawner_platform_velocity_controller_nav2[91mFailed loading controller [1mplatform_velocity_controller_nav2[0m +348.20sINFOobjective_server_nodeLoaded robot model in 0.0320205 seconds[0m ×2 +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +348.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +348.26sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +348.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +348.29sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +348.29sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +348.29sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +348.29sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +348.29sINFOstreaming_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) +348.30sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +348.49sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +348.50sINFOcontroller_managerLoading controller 'vacuum_gripper' +348.50sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn +348.50sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn [0m ×2 +348.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +348.51sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +348.54sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +348.56sINFOstreaming_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) +348.56sERRORros2-15process has died [pid 8765, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2']. ×2 +348.60sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +348.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943190 ms (missed cycles : 2). +348.60sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +348.60sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +348.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943190 ms (missed cycles : 2).[0m ×2 +348.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +348.61sINFOcontroller_managerSuccessfully switched controllers! ×4 +348.61sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +348.75sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +348.75sWARNobjective_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. +348.76sWARNobjective_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. +348.76sWARNobjective_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. +348.76sWARNobjective_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. +348.76sWARNobjective_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. +348.76sWARNobjective_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. +348.76sWARNobjective_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. +348.76sWARNobjective_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. +348.76sWARNobjective_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. +348.76sWARNobjective_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. +348.77sINFOcomponent_container_mtLoaded robot model in 0.468144 seconds[0m ×2 +348.94sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +348.94sINFOcontroller_managerLoading controller 'joint_velocity_controller' +349.05sINFOros2-14process has finished cleanly [pid 8764] ×2 +349.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn +349.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn [0m ×2 +349.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +349.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +349.17sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +349.20sINFOmove_groupMoveGroup debug mode is ON +349.31sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787876317.967 for reason 'discarding message because the queue is full' +349.31sWARNplanning_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. +349.31sWARNplanning_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. +349.31sWARNplanning_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. +349.31sWARNplanning_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. +349.31sWARNplanning_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. +349.31sWARNplanning_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. +349.31sWARNplanning_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. +349.31sWARNplanning_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. +349.32sWARNplanning_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. +349.32sWARNplanning_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. +349.32sWARNplanning_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. +349.32sWARNplanning_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. +349.32sWARNplanning_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. +349.32sWARNplanning_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. +349.32sWARNplanning_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. +349.32sWARNplanning_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. +349.32sWARNplanning_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. +349.33sWARNplanning_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. +349.33sWARNplanning_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. +349.33sWARNplanning_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. +349.33sWARNplanning_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. +349.33sWARNplanning_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. +349.33sWARNplanning_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. +349.33sWARNplanning_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. +349.34sWARNplanning_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. +349.34sWARNplanning_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. +349.34sWARNplanning_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. +349.34sWARNplanning_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. +349.37sINFOmove_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 ******************************************************** +349.53sINFOcomponent_container_mt[2026-08-28 00:18:39.302] [moveit_pro_license] [info] ×2 +349.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231009 ms (missed cycles : 2). +349.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231009 ms (missed cycles : 2).[0m ×2 +349.66sINFOros2_control_node[2026-08-28 00:18:39.434] [info] Controller state will be published at 20 Hz. ×2 +349.67sINFOros2_control_node[2026-08-28 00:18:39.436] [info] JointVelocityController 'on_configure' succeeded. ×2 +350.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +350.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +350.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 +350.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 +350.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn +350.02sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn [0m ×2 +350.07sINFOros2-19process has finished cleanly [pid 8769] ×2 +350.09sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +350.09sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 +350.09sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +350.09sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 +350.10sINFOforce_torque_sensor_broadcasterconfigure successful +350.10sINFOros2_control_nodeconfigure successful[0m ×2 +350.10sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +350.10sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 +350.11sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +350.11sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 +350.43sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +350.43sINFOcontroller_managerLoading controller 'velocity_force_controller' +350.43sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 +350.43sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 +350.46sINFOros2-10process has finished cleanly [pid 8758] ×2 +350.58sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn +350.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn [0m ×2 +350.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +350.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 +350.64sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +350.65sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 +350.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790590 ms (missed cycles : 3). +350.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790590 ms (missed cycles : 3).[0m ×2 +351.18sINFOros2_control_node[2026-08-28 00:18:40.949] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +351.18sINFOros2_control_node[2026-08-28 00:18:40.952] [info] Controller state will be published at 10 Hz. ×2 +351.18sINFOros2_control_node[2026-08-28 00:18:40.953] [info] VelocityForceController 'on_configure' succeeded. ×2 +351.53sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +351.53sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +351.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 +351.53sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 +351.53sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn +351.53sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn [0m ×2 +351.61sINFOros2-17process has finished cleanly [pid 8767] ×2 +351.64sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +351.64sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 +351.64sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +351.65sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +351.65sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +351.65sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 +351.65sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 +351.65sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 +351.65sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +351.65sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 +351.65sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +351.65sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 +351.65sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 +351.66sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +351.66sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 +351.81sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787876320.467 for reason 'discarding message because the queue is full' +351.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676179 ms (missed cycles : 3). +351.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676179 ms (missed cycles : 3).[0m ×2 +352.02sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +352.02sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +352.02sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn +352.02sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn [0m ×2 +352.04sINFOros2-16process has finished cleanly [pid 8766] ×2 +352.08sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +352.08sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +352.60sINFOros2_control_node[2026-08-28 00:18:42.374] [info] Controller state will be published at 20 Hz. ×2 +352.60sINFOros2_control_node[2026-08-28 00:18:42.375] [info] JointVelocityController 'on_configure' succeeded. ×2 +352.97sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +352.97sINFOcontroller_managerLoading controller 'platform_velocity_controller' +352.97sERRORcontroller_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 +352.98sINFOros2-20process has finished cleanly [pid 8770] ×2 +353.02sFATALspawner_platform_velocity_controller[91mFailed loading controller [1mplatform_velocity_controller[0m +353.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197349 ms (missed cycles : 3). +353.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197349 ms (missed cycles : 3).[0m ×2 +353.43sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +353.43sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +353.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 +353.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 +353.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn +353.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn [0m ×2 +353.47sERRORros2-13process has died [pid 8763, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller']. ×2 +353.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +353.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +353.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +353.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +353.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +353.72sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 4.033ms +353.83sINFOlocal_costmap.local_costmapstart +353.87sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +353.87sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +353.88sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn +353.93sWARNcontroller_serverParameter controller_server.verbose not found +353.94sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +353.94sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +353.94sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +353.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +353.95sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +354.04sINFOlifecycle_manager_navigationServer controller_server connected with bond. +354.04sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +354.04sINFOsmoother_serverActivating +354.04sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +354.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057960 ms (missed cycles : 3). +354.15sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +354.15sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +354.15sINFOplanner_serverActivating +354.15sINFOglobal_costmap.global_costmapActivating +354.15sINFOglobal_costmap.global_costmapChecking transform +354.15sINFOglobal_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 1787876323.920453 but the earliest data is at time 1787876324.366754, when looking up transform from frame [ridgeback_base_link] to frame [map] +354.31sINFOros2-12process has finished cleanly [pid 8762] ×2 +354.36sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +354.36sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +354.36sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn +354.38sINFOweb_video_auth_proxy-35process has finished cleanly [pid 8812] ×2 +354.42sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787876323.067 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +354.46sINFOweb_bridge_auth_proxy-34process has finished cleanly [pid 8811] ×2 +354.46sINFOvideo_server-33process has finished cleanly [pid 8810] ×2 +354.46sINFOros2-11process has finished cleanly [pid 8759] ×2 +354.46sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +354.47sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +354.65sINFOglobal_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 1787876324.325496 but the earliest data is at time 1787876324.366754, when looking up transform from frame [ridgeback_base_link] to frame [map] ×20 +354.67sINFOtf2_web_republisher_node-32process has finished cleanly [pid 8809] ×2 +354.79sINFOros2-18sending signal 'SIGINT' to process[ros2-18] ×2 +354.83sERRORmove_group-21process has died [pid 8771, 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_6_wcu4j_ --params-file /tmp/launch_params_rg47n5f9 --params-file /tmp/launch_params_ho342cm5 --params-file /tmp/launch_params_v7byukk6 --params-file /tmp/launch_params_sdsxxu5v --params-file /tmp/launch_params_sv0lkoob']. ×2 +354.85sINFOui_teleop_bridge-30process has finished cleanly [pid 8807] ×2 +354.85sINFOcomponent_container_mt-28process has finished cleanly [pid 8805] ×2 +354.87sINFOcontroller_managerShutdown request received.... +354.87sINFOcontroller_managerShutting down all controllers in the controller manager. +354.87sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' +354.87sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' +354.87sINFOcontroller_managerShutting down controller 'velocity_force_controller' +354.87sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' +354.87sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' +354.87sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' +354.87sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' +354.87sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' +354.87sINFOcontroller_managerShutting down controller 'joint_velocity_controller' +354.87sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' +354.87sINFOcontroller_managerDeactivating controller 'vacuum_gripper' +354.87sINFOcontroller_managerShutting down controller 'vacuum_gripper' +354.87sERRORcontroller_managerFailed shutting down the controllers. +354.87sINFOcontroller_managerShutting down the controller manager. +354.90sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787876324.368 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +354.90sINFOexecute_objective_bridge-29process has finished cleanly [pid 8806] ×2 +355.02sINFOobjective_server_node_main-26process has finished cleanly [pid 8803] ×2 +355.05sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) +355.05sINFOmap_serverDeactivating +355.05sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 +355.06sINFOmap_serverCleaning up +355.06sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) +355.06sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m +355.07sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) +355.07sINFOcontroller_serverDeactivating +355.07sINFOlocal_costmap.local_costmapDeactivating +355.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 +355.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 +355.07sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 +355.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 +355.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 +355.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn [0m ×2 +355.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 +355.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 +355.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057960 ms (missed cycles : 3).[0m ×2 +355.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 +355.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 +355.08sERRORamclThe bond connection to the lifecycle manager has been broken +355.08sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 +355.08sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 +355.08sINFOvideo_server2026/08/28 00:18:44 INF shutting down gracefully ×2 +355.08sINFOvideo_server2026/08/28 00:18:44 INF [WebRTC] closing ×2 +355.08sINFOvideo_server2026/08/28 00:18:44 INF [RTSP] closing ×2 +355.08sINFOvideo_server2026/08/28 00:18:44 INF waiting for running hooks ×2 +355.08sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dezsbhor --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_qv4b05o0 --params-file /tmp/launch_params_re4nwayn [0m ×2 +355.09sERRORspawner_arm_only_velocity_force_controller[91mFailed to configure controller[0m +355.10sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 +355.10sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 +355.10sERRORmove_groupStack trace (most recent call last) in thread 9429: ×2 +355.11sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 +355.11sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20bef3ea63, in __clone ×2 +355.11sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20beeb1aa3, in ×2 +355.11sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f20bf143db3, in ×2 +355.11sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f20bf8b4a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 +355.11sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f20bf4d5620, in rclcpp::Rate::sleep() ×2 +355.11sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f20bf417d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 +355.11sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f20bf3d9087, in ×2 +355.11sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f20bf112390, in __cxa_throw ×2 +355.11sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f20bf0fca54, in std::terminate() ×2 +355.11sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f20bf1120d9, in ×2 +355.11sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f20bf0fcff4, in ×2 +355.11sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20bee3d8fe, in abort ×2 +355.11sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20bee5a27d, in raise ×2 +355.11sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20beeb3b2c, in pthread_kill ×2 +355.11sERRORmove_groupAborted (Signal sent by tkill() 8771 0) ×2 +355.11sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 +355.11sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 +355.11sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 +355.11sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 +355.11sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 +355.11sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 +355.11sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 +355.11sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 +355.11sERRORros2_control_nodeFailed shutting down the controllers.[0m ×2 +355.11sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +355.12sINFOobjective_server_node[2026-08-28 00:18:44.697] [moveit_pro_license] [info] ×2 +355.13sINFOros2_control_node[2026-08-28 00:18:44.859] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +355.13sERRORros2_control_nodeCaught exception in callback for transition 10[0m ×2 +355.13sERRORros2_control_nodeOriginal error: could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:404[0m ×2 +355.13sERRORros2_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 ×2 +355.13sERRORros2_control_nodeAfter configuring, controller 'arm_only_velocity_force_controller' is in state 'configuring' , expected inactive.[0m ×2 +355.13sERRORros2[91mFailed to configure controller[0m[0m ×2 +355.13sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 +355.14sINFOcontroller_serverCleaning up +355.14sINFOlocal_costmap.local_costmapCleaning up +355.19sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) +355.19sINFOsmoother_serverDeactivating +355.19sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 +355.20sINFOsmoother_serverCleaning up +355.21sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) +355.21sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. +355.21sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) +355.21sINFObehavior_serverCleaning up +355.21sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. +355.21sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) +355.21sINFObt_navigatorCleaning up +355.25sINFObt_navigatorCompleted Cleaning up +355.25sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. +355.25sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) +355.25sINFOwaypoint_followerCleaning up +355.26sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. +355.26sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) +355.26sINFOvelocity_smootherCleaning up +355.26sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. +355.26sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) +355.27sERRORcomponent_container_isolated-2process has died [pid 8684, 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_7qqf84rf --params-file /tmp/launch_params_j4tvguc0 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 +355.68sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 8786] ×2 +355.71sINFOmove_joint_resampler_node-24process has finished cleanly [pid 8784] ×2 +355.78sINFOwaypoint_manager_node-23process has finished cleanly [pid 8775] ×2 +355.79sINFOparameter_manager_node-22process has finished cleanly [pid 8774] ×2 +355.82sINFOcomponent_container_mt-27process has finished cleanly [pid 8804] ×2 +355.95sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8690] ×2 +355.96sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 8689] ×2 +356.04sINFOstatic_transform_publisher-4process has finished cleanly [pid 8686] ×2 +356.06sINFOstatic_transform_publisher-3process has finished cleanly [pid 8685] ×2 +356.07sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 8688] ×2 +356.12sERRORodom_qos_relay.py-5process has died [pid 8687, 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 +356.23sERRORros2-18process has died [pid 8768, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller']. ×2 +357.36sINFOweb_bridge-31process has finished cleanly [pid 8808] ×2 +357.55sINFOros2_control_node-9process has finished cleanly [pid 8691] ×2 +364.30sERRORcomponent_container_isolated-1process has died [pid 8683, 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_7qqf84rf --params-file /tmp/launch_params_w2v4j4le -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2

▾/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
No ROS log lines in this test's time window.
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

10 skip

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

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

1 skip

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

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

3 skip

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