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Didn't received robot state (joint angles) with recent timestamp within 1 seconds. Check clock synchronization if your are running ROS across multiple machines!

asked 2018-09-07 07:29:27 -0500

hpoleselo gravatar image

updated 2018-09-13 09:30:41 -0500

Hello everybody, i'm currently using the Franka Emika Panda Robot and trying to learn about ROS Moveit!

Everything was working perfectly (trajectory planing with the Moveit) and suddenly, by trying out some scripts from the tutorial the following error came to me:

'Didn't received robot state (joint angles) with recent timestamp within 1 seconds. Check clock synchronization if your are running ROS across multiple machines!'

When i run my launchfile, this is the outcome: (everything ok)

roslaunch franka_drawing franka_drawing.launch
... logging to /home/jt/.ros/log/eea78224-b294-11e8-b8bc-fcaa14212913/roslaunch-vwagwoohsplsw05-8086.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARN: unrecognized 'param' tag in <include> tag
started roslaunch server http://vwagwoohsplsw05:40909/

SUMMARY
========

PARAMETERS
 * /effort_joint_trajectory_controller/constraints/goal_time: 0.5
 * /effort_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /effort_joint_trajectory_controller/gains/panda_joint1/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint1/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint1/i_clamp: 1
 * /effort_joint_trajectory_controller/gains/panda_joint1/p: 100
 * /effort_joint_trajectory_controller/gains/panda_joint2/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint2/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint2/i_clamp: 1
 * /effort_joint_trajectory_controller/gains/panda_joint2/p: 100
 * /effort_joint_trajectory_controller/gains/panda_joint3/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint3/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint3/i_clamp: 1
 * /effort_joint_trajectory_controller/gains/panda_joint3/p: 100
 * /effort_joint_trajectory_controller/gains/panda_joint4/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint4/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint4/i_clamp: 1
 * /effort_joint_trajectory_controller/gains/panda_joint4/p: 100
 * /effort_joint_trajectory_controller/gains/panda_joint5/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint5/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint5/i_clamp: 1
 * /effort_joint_trajectory_controller/gains/panda_joint5/p: 100
 * /effort_joint_trajectory_controller/gains/panda_joint6/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint6/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint6/i_clamp: 1
 * /effort_joint_trajectory_controller/gains/panda_joint6/p: 100
 * /effort_joint_trajectory_controller/gains/panda_joint7/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint7/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint7/i_clamp: 1
 * /effort_joint_trajectory_controller/gains/panda_joint7/p: 100
 * /effort_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /effort_joint_trajectory_controller/type: effort_controller...
 * /franka_control/arm_id: panda
 * /franka_control/cutoff_frequency: 100
 * /franka_control/internal_controller: cartesian_impedance
 * /franka_control/joint_names: ['panda_joint1', ...
 * /franka_control/rate_limiting: True
 * /franka_control/robot_ip: 172.16.0.2
 * /franka_gripper/default_grasp_epsilon/inner: 0.005
 * /franka_gripper/default_grasp_epsilon/outer: 0.005
 * /franka_gripper/default_speed: 0.1
 * /franka_gripper/joint_names: ['panda_finger_jo...
 * /franka_gripper/publish_rate: 30
 * /franka_gripper/robot_ip: 172.16.0.2
 * /franka_state_controller/arm_id: panda
 * /franka_state_controller/joint_names: ['panda_joint1', ...
 * /franka_state_controller/publish_rate: 30
 * /franka_state_controller/type: franka_control/Fr...
 * /joint_state_publisher/rate: 30
 * /joint_state_publisher/source_list: ['franka_state_co...
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/panda_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group ...
(more)
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answered 2018-09-13 09:29:45 -0500

hpoleselo gravatar image

updated 2019-02-07 04:20:29 -0500

I found the error, for some reason there was a remapping on '/opt/ros/kinetic/share/panda_moveit_config/launch/move_group.launch' the remapping was:

<remap from="/joint_states" to="/joint_states_desired" />

This resulted on the fact that /joint_states was not publishing to /move_group. So i just commented this part and now the robot is planning and executing smoothly again.

i didn't check the original package from Github, but i think it's already there (with this remapping)...

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Comments

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I ran across the same problem and can confirm this solution works. As the file was in a protected folder, I copied it and removed the line. Then I changed the path within the main launch file to the unprotected version of move_group.launch. It seems that this line is there in the original package (move_group.launch on GitHub). I don't know why they put it there. It looks like this might be needed when working with Gazebo (see point 6 here), but as far as my understanding of this package goes, that line is not there on purpose. I will post an issue on the GitHub page and ask if this is intended.

Gnr gravatar imageGnr ( 2019-08-02 06:06:32 -0500 )edit

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Asked: 2018-09-07 07:26:17 -0500

Seen: 1,185 times

Last updated: Feb 07