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Hello
The issue you described may be related to how MoveIt2 obtains and maintains the state of the robot. When using your own joint state publisher, there are certain specifications it should meet in order to work effectively with MoveIt2. It's important to ensure that the joint states are published accurately and consistently, reflecting the actual state of the robot. Additionally, you may need to synchronize the timing of the joint state publication with other components of MoveIt2, such as the collision checking algorithm. Further investigation and experimentation may be required to understand and address the specific problem you are encountering.
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