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Got it, thanks ! I found out here : https://github.com/ros-controls/ros2_control/issues/325 that I can set a "use_sim_time" param to True. I've done that, removed joint_state_publisher and joint_state_publisher_gui from the launch file and everything works fine !

Got it, thanks @tfoote ! I found out here : https://github.com/ros-controls/ros2_control/issues/325 that I can set a "use_sim_time" param to True. I've done that, removed joint_state_publisher and joint_state_publisher_gui from the launch file and everything works fine ! !

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