setting 'use_sim_time' to be "True" through the launch file generated by moveit2 setup-assisstant

asked 2022-08-25 23:58:27 -0500

pmuthu2s gravatar image

Currently, I'm working with a custom robot arm in simulation. I already added all the necessary Gazebo-ros2-control and went through the steps of setting up the moveit package through the recently released setup-assistant for moveit2. At the moment, I'm able to plan the robot's motion, but the controller fails during execution with the errors:

Didn't received robot state (joint angles) with recent timestamp within 1 seconds.

Failed to validate trajectory: couldn't receive full current joint state within 1s

Looking a bit deep into the 'joint_states' message, I found that, they are being published at sim time. I also wanted use the simulation time for move_group launch, but I see that everything is packaged under the MoveItConfigsBuilder.

Can anyone help me on how to get through the wrapper on enabling the sim_time ?

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