okvik
commented
1 month ago Could be that your robot controller isn't up and publishing to joint_states topic by the time you are trying to plan. Seems plausible since you're launching everything from the same launch file and real robot drivers usually take a bit of time to establish connections to the hardware and get going.
You could easily test if this theory is correct by introducing a sleep of some duration before doing anything else in your program, just to give time for all the rest of the stuff in the launch file to come up. Alternatively you can subscribe to the joint_states topic yourself and wait until you get a first message (hint: this is more elegantly solved by liveliness QoS, which you may wanna look into at some date), at which point it may be safe to assume the controller / hardware is up and running and ready to receive commands. Pretty sure ros2_control provides a mechanism to establish the readyness of the controller / hardware, but I don't know whether MoveIt does anything with it -- I only worked with robots that don't use ros2_control.
Sorry it's late and I overlooked that you are using FakeHardware so this is unlikely an issue, though you are free to try if sleep helps anyway. At least, confirm you are actually getting something published on the joint_states topic.
SyZbidi
sjahr
Description
Followed the
motion_planning_python_apitutorial example, the launch file is almost the same, just addedplanning_pipelinesto moveit_config, and myMoveitPy nodeis only trying to plan and execute one example of named_target. I don't understand Python launch files much, and also new to ROS2 unfortunately. So I can't get to locate the reason behind having this errorDidn't receive robot state (joint angles) with recent timestamp within 1.000000 secondsYour environment
Steps to reproduce
I made my
moveit_configpackage withmoveit_setup_assistant. Then I only changed theacceleration_limitsto True and set a value >0. After that I created a launch file similar to motion_planning_python_api_tutorial.launch.py withmoveit_utilsbeing my nodelaunch.py
moveit_py_node script
planning.yaml
I commented out the planning scene monitor due to an error that I wanted to move past it
[moveit_utils-1] RuntimeError: Unable to configure planning scene monitorExpected behaviour
Tell us what should happen
I expected the motion to be planned and executed as simple as that
Backtrace or Console output
Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.
Am I missing parameters? I have no idea where to look to fix the
[rviz2-4] [ERROR] [1717702917.972281146] [rviz2.moveit.ros.trajectory_visualization]: No robot state or robot model loadedandmoveit_utils-1] [INFO] [1717702918.877642308] [moveit_3672297761.moveit.ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1717702917.877563, but latest received state has time 0.000000.By the way
use_sim_timedoesn't fix i, I already tried to add it to the node vut I'm l=not using simulation/gazeboThanks!