I have a Kinova Mico2 arm. The kinovaros package works just fine... MoveGroup is launched with my Mico arm configured, RViz starts up, and, using the MotionPlanning widget, I can generate plans and move the arm. But when I want to programmatically control the robot (using moveitcommander in python or the MoveGroup interface in c++), I run into problems.

rosrun moveitcommander moveitcommandercmdline.py Then in python I run: use arm [ WARN] [1541181285.413504404]: Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in movegroup.launch [ INFO] [1541181285.423520113]: Ready to take commands for planning group arm. OK arm> rec c [ INFO] [1541181319.359373664]: Didn't received robot state (joint angles) with recent timestamp within 1 seconds. Check clock synchronization if your are running ROS across multiple machines! [ERROR] [1541181319.359521310]: Failed to fetch current robot state Remembered current joint values under the name c

Since things work in RViz, I'm reasonably certain I need to change one or more configuration parameters to make this happen... but I'm not sure what. One thing I have noticed is that the robot drivers do not publish on /jointstates. Then instead publish on /m1n6s200driver/out/jointstate, but how can I redirect the topic into a python program? And what about the rest of the topics - e.g. publishing planningspace and everything else?