Custom robot "Failed to fetch current robot state" and "Didn't receive robot state within 1 seconds"

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I'm working with a Hyundai robot and ROS. It doesn't have a manufacturer drive to connect it with ROS so I build an action server. After follow this tutorial I was able to send the commands to the robot using the OPML pipeline.

Now I'm testing with Pilz pipeline but I keep getting the same error 3 times before I can send any command to the robot:

Didn't receive robot state (joint angles) with recent timestamp within 1 seconds.
Check clock synchronization if your are running ROS across multiple machines!
[ERROR] [1658169574.201570926]: Failed to fetch current robot state

I'm using a virtual machine with windows 10 to conect to the robot network. It's the only way I found for this specific robot. I need my robot to move fast so this delay is really a problem.

How do I fix that?

I'm publishing the joints states to the joint_state topic at 10 Hz. I'm not sure how I can check the clock sync but it appears to be right.