[moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 10.000000 seconds.

[Divyam-uga]

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':

[ron007d]

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)

Python code

moveit_config_dict.update({'use_sim_time' : True})

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[Jelmerdw]

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?

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions[bot]]

This issue was closed because it has been stalled for 45 days with no activity.

[FarStryke21]

Faced the same issue: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1750447117.563005, but latest received state has time 250.872000.

It worked when I added the use_sim_time to the moveit_config dict, moveit_args["use_sim_time"] = use_sim_time instead of passing it as a sperate parameter to the node.

parameters=[
            moveit_args,
            {"use_sim_time": use_sim_time},
        ],

Not sure why this works, but I would guess the MoveItPy class just takes in the one parameter and expects everything to be in there. Checking the param values for use_sim_time for the node and the internal moveitpy node tipped me off (the first one returned true and the second one was false). Hope this helps!