Moveit trajectory execution doesn't work
Hi everyone,
i created a moveit config for my ur10 with custom gripper. When i launch the demo.launch.py i can plan but not execute trajectories. When i hit execute i get the following in my terminal:
[rviz2-4] [INFO] [1688035966.649349884] [move_group_interface]: Execute request accepted
[move_group-3] [INFO] [1688035967.649866740] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group-3] Check clock synchronization if your are running ROS across multiple machines!
[move_group-3] [WARN] [1688035967.649984408] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[move_group-3] [INFO] [1688035967.650092339] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-4] [INFO] [1688035967.653340096] [move_group_interface]: Execute request aborted
[rviz2-4] [ERROR] [1688035967.748292166] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
[rviz2-4] [WARN] [1688035968.393292976] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1688035946.111s
Please note that this is not the full terminal printout while running the launch file.(if needed i'd be happy to share the rest)
Help would really be appreciated, because im stuck on that problem for quit a while now and don't know what to do.
EDIT: Here is the output from the log of my gazebo simlation:
ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ros2 launch ur10_assembly assembly_sim.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-06-30-10-28-11-393100-ubuntu-8822
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [8831]
[INFO] [spawner-2]: process started with pid [8833]
[INFO] [spawner-3]: process started with pid [8835]
[INFO] [gzserver-4]: process started with pid [8837]
[INFO] [gzclient-5]: process started with pid [8850]
[INFO] [spawn_entity.py-6]: process started with pid [8852]
[robot_state_publisher-1] [INFO] [1688113693.140210522] [robot_state_publisher]: got segment base
[robot_state_publisher-1] [INFO] [1688113693.140367997] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1688113693.140388396] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-1] [INFO] [1688113693.140399304] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1688113693.140410778] [robot_state_publisher]: got segment camera_mount_link
[robot_state_publisher-1] [INFO] [1688113693.140420650] [robot_state_publisher]: got segment connector_link
[robot_state_publisher-1] [INFO] [1688113693.140430292] [robot_state_publisher]: got segment driver_link
[robot_state_publisher-1] [INFO] [1688113693.140439640] [robot_state_publisher]: got segment finger1_link
[robot_state_publisher-1] [INFO] [1688113693.140449041] [robot_state_publisher]: got segment finger2_link
[robot_state_publisher-1] [INFO] [1688113693.140458200] [robot_state_publisher]: got segment flange
[robot_state_publisher-1] [INFO] [1688113693.140467452] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-1] [INFO] [1688113693.140477837] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-1] [INFO] [1688113693.140487279] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-1] [INFO] [1688113693.140497253] [robot_state_publisher]: got segment tool0
[robot_state_publisher-1] [INFO] [1688113693.140507406] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-1] [INFO] [1688113693.140516916] [robot_state_publisher]: got segment world
[robot_state_publisher-1] [INFO] [1688113693.140526629] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-1] [INFO] [1688113693.140536414] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-1] [INFO] [1688113693.140546708] [robot_state_publisher]: got segment wrist_3_link
[spawn_entity.py-6] [INFO] [1688113694.507214089] [spawn_ur]: Spawn Entity started
[spawn_entity.py-6] [INFO] [1688113694.507690379] [spawn_ur]: Loading entity published on topic robot_description
[spawn_entity.py-6] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-6] warnings.warn(
[spawn_entity.py-6] [INFO] [1688113694.510178106] [spawn_ur]: Waiting for entity xml on robot_description
[spawn_entity.py-6] [INFO] [1688113694.523542641] [spawn_ur]: Waiting for service /spawn_entity ...