Failed to validate trajectory: couldn't receive full current joint state within 1s

[arnauddomes]

Hello,

Enrironnement: Ubuntu 20.04 Ros: Noetic Franka_ros : origin/noetic-devel

I try to launch move_to_start.launch on Panda arm like this; roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2

I get that warning before the program stop: Failed to validate trajectory: couldn't receive full current joint state within 1s

Here is the full log:

https://codeshare.io/kmDN4M

[samarth-robo]

franka_ros 0.9.0 panda_moveit_config 0.7.5

@arnauddomes I am on franka_ros 0.9.0 and see the same error. This seems to be related to #191. panda_moveit_config noetic-devel branch is broken and in melodic-devel or v0.7.5, the move_group.launch needs joint_states_desired topic.

So a temporary workaround:

add to franka_control.launch:

  <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
    <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
    <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
    <param name="rate" value="30"/>
    <remap from="/joint_states" to="/joint_states_desired" />
  </node>

add to move_to_start.launch:

<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />

Again this is just to get the franka - Moveit connection working again, a more permanent fix would be to wait for the developers to fix it properly.

[KhalilSallem]

Hello everyone, we have been working a lot with the above mentioned packages, and to reply to @samarth-robo

Using your solution we had to add a relay node in the main execution launch file to repeat the /joint_states_desired topic in the /joint_states topic as follows: <node pkg="topic_tools" type="relay" name="relay_joint_info" args="joint_states_desired joint_states" output="screen"/>

yes that's a way to work around the problem, but with enough time and investigation we found out that there's a remap function <remap from="/joint_states" to="/joint_states_desired" /> in line 78 of the move_group.launch of the panda_moveit_config package in the melodic-branch removing this line made it work for us.

We don't know if it needs solving (and finally closing this issue), because in the noetic-branch this line was already removed.