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I solved the issue. It may not be the same situation for everyone, But I post it here for future reference. I compiled moveit from source and run the same program, first, it shows: "Failed to fetch the current state" Then I did the following change, In moveit/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp

I add a ros::spinOnce() at line 273 within the waitForCurrentState() function, because it seems the problem is the joint state callback function never get called. After I did this change, it works and can correctly get the current joint values.