move_group error. ros2

[MOShka78]

Your environment

• ROS Distro: [Humble]
• OS Version: Ubuntu 22.04

Expected behaviour

An error occurs when sending a message to the action server. A move_group object is created in the action server to find out the current state of the robot. Below is the code.

 group->clearPoseTarget();
  group->clearPoseTargets();
  group->clearPathConstraints();
  group->clearTrajectoryConstraints();
  group->setEndEffectorLink(goal->ee_link);

  moveit::core::RobotStatePtr robot_state_ptr = group->getCurrentState();  // <-- this is where the error occurs
  RCLCPP_ERROR(rclcpp::get_logger("MoveToPose"), " e.what()");
  if (!robot_state_ptr) {
    throw std::runtime_error(
        "Cant get current state in moveit, check time syncro");
  }
  moveit::core::RobotState start_state(*robot_state_ptr);

  group->setStartState(start_state);

The error looks like this: "Didn't received robot state (joint angles) with recent timestamp within 1 seconds. Check clock synchronization if your are running ROS across multiple machines"

[fzoric8]

Hi,

Did you manage to solve this? :) Thanks!

[ajjaya18]

Someone solve it? I have the same problem.

[fzoric8]

Hi, yes I did.

In this case it is related probably to the one of two things:

• wrong node initialization
• use_sim_time parameter.

In order to solve this, ensure that use_sim_time parameter is set to true for all nodes that currently running.

And besides that, make sure that you initialize node correctly as described here.

[nilp-dromeda]

I am having the same error but when using getCurrentJointValues() (which internally makes calls to getCurrentState) and I followed the described issue that @fzoric8 is referring to. This did not fix the problem for me. Also use_sim_time should only be set to true if using a simulation. I am getting this error on hardware. However, out of curiosity I tried setting use_sim_time to true and it allowed getCurrentJointValues() to work as expected. However, the joint values it returned were older joint angles - not the most up to date joint angles. So setting use_sim_time is not a workaround that can be used for the time being on hardware. Anyone else have any ideas with regards to this issue?

[fzoric8]

Hi @nilp-dromeda ,

Are you sure you're initializing your class in a right way. You can see how I initialized it here.

Because my issue was related more to the wrong initialization of the interface than usage of the use_sim_time.

I don't know if your PC's are decoupled (one runs arm and one runs MoveIt2!, then you need to make sure that PCs have the same time - also known as clock synchronization). If yes, make sure to synchronize clocks of those two PCs, you can use chrony or NTP to do so.

[nilp-dromeda]

Hi @fzoric8,

I just tried the changes you had on your branch and it still doesn't work. Running on the same PC so no need to sync clocks. Will try and investigate further.