cannot use moveit! with dual_ur5 platform

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Hello everyone! I'm using moveit! package to do motion planning on real dual_ur5 platform.I can ping both the IP adresses of the two arms.All config plugins may work well (like the .yaml files).But the warning occured when I run a Python file with moveit commander：[ WARN] [1508121443.319273668]: Failed to validate trajectory: couldn't receive full current joint state within 1s.

My bringup.launch:

 <launch>

 <group ns="left">
   <arg name="limited" default="false"/>
   <arg name="robot_ip" default="192.168.0.108"/>
   <arg name="reverse_port" default="50001"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
   <arg name="prefix" default="left_" />
  <include file="$(find ur_bringup)/launch/ur5_bringup.launch">
   <arg name="limited" value="$(arg limited)"/>
   <arg name="robot_ip" value="$(arg robot_ip)"/>
   <arg name="reverse_port" value="$(arg reverse_port)"/>
   <arg name="min_payload"  value="$(arg min_payload)"/>
   <arg name="max_payload"  value="$(arg max_payload)"/>
   <arg name="prefix" value="$(arg prefix)"/>
  </include>
 </group>

 <group ns="right">
   <arg name="limited" default="false"/>
   <arg name="robot_ip" default="192.168.0.109"/>    
   <arg name="reverse_port" default="50002"/>    
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
   <arg name="prefix" default="right_" />
  <include file="$(find ur_bringup)/launch/ur5_bringup.launch">
   <arg name="limited" value="$(arg limited)"/>
   <arg name="robot_ip" value="$(arg robot_ip)"/>
   <arg name="reverse_port" value="$(arg reverse_port)"/>
   <arg name="min_payload"  value="$(arg min_payload)"/>
   <arg name="max_payload"  value="$(arg max_payload)"/>
   <arg name="prefix" value="$(arg prefix)"/>
  </include>
 </group>

</launch>

controllers.yaml in moveit_config package:

controller_list:

  - name: "left"
    action_ns: left_follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - left_shoulder_pan_joint
      - left_shoulder_lift_joint
      - left_elbow_joint
      - left_wrist_1_joint
      - left_wrist_2_joint
      - left_wrist_3_joint

  - name: "right"
    action_ns: right_follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - right_shoulder_pan_joint
      - right_shoulder_lift_joint
      - right_elbow_joint
      - right_wrist_1_joint
      - right_wrist_2_joint
      - right_wrist_3_joint

The warning in the terminal after runnning the python file:

[ INFO] [1508121442.292992289]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1508121442.293298977]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1508121442.293327316]: No planner specified. Using default.
[ INFO] [1508121442.293420818]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1508121442.314419323]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1508121442.314442216]: Solution found in 0.021074 seconds
[ INFO] [1508121442.314505058]: SimpleSetup: Path simplification took 0.000045 seconds and changed from 3 to 2 states
[ INFO] [1508121442.317369505]: Received new trajectory execution service request...
***[ WARN] [1508121443.319273668]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[ INFO] [1508121443.319330948]: Execution `enter code here`completed: ABORTED***

ur5_bringup.launch:

<launch>

  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
  <arg name="robot_ip"/>
  <arg name="port" default="50001"/>
  <arg name="limited" default="false"/>
  <arg name="min_payload"  default="0.0"/>
  <arg name="max_payload"  default="5.0"/>
  <arg name="prefix" default="" />
  <!-- robot model 
  <include file="$(find ur_description)/launch/ur5_upload.launch">
    <arg name="limited" value="$(arg limited)"/>
  </include>-->

  <!-- ur common -->
  <include file="$(find ur_modern_driver)/launch/ur_common.launch">
    <arg name="prefix"  value="$(arg prefix)" />
    <arg name="robot_ip" value="$(arg robot_ip)"/>
    <arg name="port" value="$(arg port)"/>
    <arg name="min_payload"  value="$(arg min_payload)"/>
    <arg name="max_payload"  value="$(arg max_payload)"/>
  </include>

</launch>

ur_common.launch:

<launch>
  <!-- robot_ip: IP-address of the robot's socket-messaging server ...