execution failed in actomap

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Hi, I am not able to execute the robot in the presence of octomap although the the robot is not in collison also the target position is not in collision as well . I am getting the following message when i execute :

Failed to validate trajectory: couldn't receive full current joint state within 1s Execution completed: ABORTED ABORTED: Solution found but controller failed during execution Maybe failed to update robot state, time diff: 1,792s

I am using iai_kinect2 package for getting point cloud image and moveIt! sensor plugin for building octomap in Rviz ROS Distro kinectic kame

Please let me know where should be the problem (other than octomap it executes well)