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You have to publish 3 times : check the delay in your MoveIt kinematic parameters -> kinematics_solver_timeout

As the robot moves, it appears to jerk to and from the starting position : In Rviz parameters,

• add RobotModel
• MotionPlanning -> Scene Robot : uncheck "Show Robot Visual"
• MotionPlanning -> Planning Request : uncheck "Query Start State"

You have to publish 3 times : check Increase the delay in your MoveIt kinematic parameters -> kinematics_solver_timeout

As the robot moves, it appears to jerk to and from the starting position : In Rviz parameters,

• add RobotModel
• MotionPlanning -> Scene Robot : uncheck "Show Robot Visual"
• MotionPlanning -> Planning Request : uncheck "Query Start State"