Failed to fetch current robot state

edit

Hello, I am trying to implement a simple move_group test but I am having an issue with Failed to fetch current robot state. The MotionPlanning tool within RViz works fine, only my node does not work. What I've done so far:

1) remap /joint_states to /schunk_with_spinbot_a03_r850/joint_states in move_group.launch as well as in robot_state_publisher

2) using AsynSpinner and spinner.start() in my node

This is my gazebo_controllers.yaml:

schunk_with_spinbot_a03_r850:
#Publish all joint states
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 100

# Joint trajectory controller
joints_controller:
  type: velocity_controllers/JointTrajectoryController
  joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4
      - joint_5
      - joint_6
  gains:
      joint_1: {p: 80, i: 0, d: 0, i_clamp_min: 0, i_clamp_max: 0}
      joint_2: {p: 80, i: 0, d: 0, i_clamp_min: 0, i_clamp_max: 0}
      joint_3: {p: 80, i: 0, d: 0, i_clamp_min: 0, i_clamp_max: 0}
      joint_4: {p: 60, i: 0, d: 0, i_clamp_min: 0, i_clamp_max: 0}
      joint_5: {p: 60, i: 0, d: 0, i_clamp_min: 0, i_clamp_max: 0}
      joint_6: {p: 60, i: 0, d: 0, i_clamp_min: 0, i_clamp_max: 0}

schunk_eef_joints_controller:
  type: position_controllers/JointGroupPositionController
  joints:
    - joint_finger_1
    - joint_finger_2

This is my controllers_gazebo.yaml within moveit_config package (didnt add schunk_eef_joints_controller) :

controller_list:
  - name: schunk_with_spinbot_a03_r850
    action_ns: joints_controller/follow_joint_trajectory
    type: FollowJointTrajectory
    joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]

I have read somewhere that I should also remap joints within a node, but I cant find any example how to do it. Could you point me to the right direction? Also I do not know if it helps but here is a rqt_graph: