Galactic: is there a way to have Gazebo simulation working

I’m struggling with running Gazebo simulation with MoveIT. I have launched two commands: ros2 launch ur_simulation_gazebo ur_sim_control.launch.py initial_joint_controller:=joint_trajectory_controller launch_rviz:=false and ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true hoping that this works around the #8

It seems working, a I can plan a movement but the execute command fails. In the log the worrying lines are about “Failed to validate trajectory: couldn't receive full current joint state within 1s”. So If I correctly understand the trajectory is sent but there is no info back from Gazebo simulation about the robot state. Is it a problem of Gazebo_ros_control or am I missing sth in the config?

Could anybody help?

The longer log is as follows: `[rviz2-3] [INFO] [1646127072.138752918] [move_group_interface]: MoveGroup action client/server ready [move_group-1] [INFO] [1646127072.140623611] [moveit_move_group_default_capabilities.move_action_capability]: Received request

[rviz2-3] [INFO] [1646127072.342920831] [move_group_interface]: Planning request accepted [move_group-1] [INFO] [1646127073.141161483] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds. [move_group-1] Check clock synchronization if your are running ROS across multiple machines! [move_group-1] [WARN] [1646127073.141208034] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state. [move_group-1] [INFO] [1646127073.141287931] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [move_group-1] [INFO] [1646127073.141318225] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group' [move_group-1] [INFO] [1646127073.148626788] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-1] [INFO] [1646127073.184540385] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully. [rviz2-3] [INFO] [1646127073.446626486] [move_group_interface]: Planning request complete! [rviz2-3] [INFO] [1646127073.547046436] [move_group_interface]: time taken to generate plan: 0.0273636 seconds [move_group-1] [INFO] [1646127077.708584645] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request [move_group-1] [INFO] [1646127077.708854131] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received [move_group-1] [INFO] [1646127077.708912702] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1646127077.709189930] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [rviz2-3] [INFO] [1646127077.910754393] [move_group_interface]: Execute request accepted [move_group-1] [INFO] [1646127078.709362662] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds. [move_group-1] Check clock synchronization if your are running ROS across multiple machines! [move_group-1] [WARN] [1646127078.709401107] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s [move_group-1] [INFO] [1646127078.709452013] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED [rviz2-3] [INFO] [1646127079.014918702] [move_group_interface]: Execute request aborted [rviz2-3] [ERROR] [1646127079.115353458] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached [rviz2-3] [WARN] [1646127079.852387667] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1646127003.702s`

UniversalRobots / Universal_Robots_ROS2_Gazebo_Simulation

Galactic: is there a way to have Gazebo simulation working #9