MoveGroupInterface::move() timeout on the second launch
Hi, there.
I'm new to ros2 and just complete ros2 and moveit2 tutorials. The purpose of my work in hand is to control abb-irb4600-40 robot in webots simulator and check the trajectory generated by moveit2 packages(via rviz or in webots scene). I have installed the webots_ros2_universal_robot packages since the "multirobot_launch.py" contains the robot model (irb4600-40, however its srdf is incomplete compared to UR's).
My idea is to make controlling UR5e robot working first by modifying "robot_launch.py" first and then construct my workcell scene of abb's robot later. After building my own node by using moveit2 tutorial code(changing 'panda_arm' to ur5e in https://moveit.picknik.ai/foxy/doc/mo...), and modifying the "robot_launch.py" (in the repo:https://github.com/cyberbotics/w...), it seems I can launch my first trial.
The first run after build seems fine. However, I shutdown all the program and terminal, and the following launches all turned out failed. Although code running with rviz moving, the robot in webots got not controller from extern. Then I discovered that the first launch after system reboot is working. Maybe there are some unknown process or code left uncleared. The message in terminal showed that move_group timeout, as shown below. Would anyone help me with this issue? Any methods or tool to investigate the problem behind this are welcome. I saw nodes were cleared in rqt or using 'node list'.
*[move_group-10] [INFO] [1660369437.161656571] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds. [move_group-10] Check clock synchronization if your are running ROS across multiple machines!
