Currently, I'm working with a custom robot arm in simulation. I already added all the necessary Gazebo-ros2-control and went through the steps of setting up the moveit package through the recently released setup-assistant for moveit2. At the moment, I'm able to plan the robot's motion, but the controller fails during execution with the errors:

Didn't received robot state (joint angles) with recent timestamp within 1 seconds.

Failed to validate trajectory: couldn't receive full current joint state within 1s

Looking a bit deep into the 'jointstates' message, I found that, they are being published at sim time. I also wanted use the simulation time for movegroup launch, but I see that everything is packaged under the MoveItConfigsBuilder.

Can anyone help me on how to get through the wrapper on enabling the sim_time ?