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Your Gazebo setup seems to be incomplete. Nobody publishes to the /joint_states topic and most likely a gazebo plugin should do that.

Your Gazebo setup seems to be incomplete. Nobody publishes to the /joint_states topic and most likely a gazebo plugin should do that.

Addition: Be aware that if trajectory start-state validation does not make sense for your use-case, you can also just disable it by putting this into your moveit_config's launch/trajectory_execution.launch.xml:

<param name="trajectory_execution/allowed_start_tolerance" value="0.0"/>

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