Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds #912
Comments
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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 |
Your suggestion was actually helpful, thanks a lot! I let it sleep for 10 seconds and now I got to see the plan but no execution. Also echoed the
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Sorry for the late reply, is your issue fixed now? |
@okvik I actually wanted to split them I don't like the idea of launching the moveit setup and the I'd appreciate if you have a suggestion but you already solved my main issue so thank you again for that :) |
Hi @sjahr, not really. there's something wrong in my launch file above. adding a sleep time and a So though the fix suggested by @okvik worked, it doesn't seem like the way to go |
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The solution was to add |
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@sjahr this is off-topic but also related to my work, it would be helpful if you take a look at this comment when you get the chance. Thank you |
The way I do it is indeed to split each major hardware component (like a robot) launch from the control program logic and any other supporting nodes such as rviz, potentially the HMI node, etc. Basically, split the system in a way that lets me rebuild / start / restart without having to reboot the entire system from scratch every time. For production I additionally wrap these launches in their own systemd units, which lets me deal with dependencies, starting the system at boot, have more meaningful logging experience, easily clean up broken process trees, etc. |
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!
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