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hello, i am face the same problem in the use real robot of staubli tx90 ,after reference the comment above i solve my issue.(i am a chinese,and my english is not well) my issue as follow: this ERROR is from link text it has follow code in line 359-360 :

1. if ((i > 0) && (pt.time_from_start.toSec() == 0))
2. ROS_ERROR_RETURN(false, "Validation failed: Missing valid timestamp data for trajectory pt %d", i);

the i is the number of point of this trajectory which was generate by compute_cartesian_path(),so i remove the current position point from waypoints,then add the other points to waypoints,and adjust eef_step to make secs and nsecs starting with the second point in the trajectory points is not 0 ,the output of trajectory will like follow:

points:

- 
  positions: [2.108776330947876, -1.9812618494033813, 1.9390465021133423, -0.5018525719642639, 0.5606833696365356, -3.183285713195801]
  velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  accelerations: [0.8235095563086486, 0.0, 0.0, 0.0, 0.0, 0.0]
  effort: []
  time_from_start: 
    secs: 0
    nsecs:         0
- 
  positions: [2.1089364101262262, -1.9812590654326576, 1.9389832311590194, -0.5019567354049222, 0.5607331482680914, -3.183351569435987]
  velocities: [0.014828695025699192, 0.00025848478191981743, -0.005865001402171719, -0.009645346020956728, 0.004613587043633859, -0.0061049437144617275]
  accelerations: [0.9886697575487532, 0.01728195425169232, -0.3913577021689268, -0.6427849328498018, 0.307795562008559, -0.40739227930748345]
  effort: []
  time_from_start: 
    secs: 0
    nsecs:  19717330
- 
  positions: [2.109096447290984, -1.9812562733384256, 1.9389199174983955, -0.5020608168453513, 0.5607829497680554, -3.1834174745134054]
  velocities: [0.014547021024027582, 0.00025392540918097015, -0.00575598233144198, -0.00945979402778211, 0.004527334312262674, -0.0059918148431933145]
  accelerations: [-0.9775614481946764, -0.017036846470972623, 0.38661387642784256, 0.6359013889656868, -0.30413611428222415, 0.40240419108740666]
  effort: []
  time_from_start: 
    secs: 0
    nsecs:  27147549
- 
  positions: [2.109256457452625, -1.981253476197224, 1.9388565758948926, -0.5021648393599629, 0.5608327635832869, -3.183483418893228]
  velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  accelerations: [-0.7134973773185114, -0.012472663553533377, 0.2824449866871931, 0.4638442371177143, -0.22212355863775582, 0.2940509625747436]
  effort: []
  time_from_start: 
    secs: 0
    nsecs:  48325922