Open Divyam-uga opened 3 months ago
I guess you are using gazebo
by adding use_sim_time: True
in the moveit config dict
you'll be able to get to monitor planning running but
it will fetch another error
terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterValueException'
what(): parameter 'qos_overrides./clock.subscription.durability' could not be set:
Aborted (core dumped)
moveit_config_dict.update({'use_sim_time' : True})
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I experience the same problem when using the moveit_servo servo_node in combination with Gazebo simulation. I launch all nodes with the 'use_sim_time' set to True, however the current_state_monitor still seems to use wall time. Did you found a solution?
Hello Everyone,
@peterdavidfagan I have set up a Gazebo simulation with 2 UR manipulators and I'm attempting to control one UR robot using moveit_py. I've followed the necessary configuration steps from "moveit2_tutorials", and I am also setting 'use_sim_time' to true in Gazebo and all related nodes. However, I'm encountering an issue where 'current_state_monitor.cpp' is not receiving joint_angles with recent timestamps.
I've verified that joint states are being published in the correct sim time using "ros2 topic echo /joint_states" and "ros2 topic echo /clock", but it seems that the requested time reflects my PC's total run time instead of the current simulation time step. I tried several ways to set the 'use_sim_time' param to true globally before initializing 'moveit_py' but it's not working out.
Any guidance on resolving this would be greatly appreciated.
Thank you.
Error message:
'ur_sort.py':