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I don't remember why, but the variable time_from_start in plan.trajectory_.joint_trajectory.points[] was empty, so my robot jumped from start state to goal state but the trajectory didn't have time to execute. Now I use res.getMessage(response) (https://ros-planning.github.io/moveit_tutorials/doc/motion_planning_pipeline/motion_planning_pipeline_tutorial.html#visualize-the-result), and it works.

I don't remember why, but the variable time_from_start in plan.trajectory_.joint_trajectory.points[] was empty, so my robot jumped from start state to goal state but the trajectory didn't have the time to execute. Now I use res.getMessage(response) (https://ros-planning.github.io/moveit_tutorials/doc/motion_planning_pipeline/motion_planning_pipeline_tutorial.html#visualize-the-result), and it works.