Moveit operation error in temporary compensation

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Hi, I'm performing a robot arm movement to the target's position in the ROS1, noetic, and Gazebo environment to grasp the object. However, there was a problem using the moveit. The questions are as follows.

first Error

[ WARN] [1682318752.584089818, 183.506000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 183.503000 according to authority unknown_publisher
[ WARN] [1682318752.584098988, 183.506000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 183.503000 according to authority unknown_publisher
[ WARN] [1682318752.584141309, 183.506000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link at time 183.503000 according to authority unknown_publisher
[ WARN] [1682318752.584158418, 183.506000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link at time 183.503000 according to authority unknown_publisher

But it doesn't have to be so much of a concern

[ERROR] [1682319061.856444867, 8.062000000]: IK solver error code: -31
[ERROR] [1682319061.856489754, 8.062000000]: Failed to compute the IK solution for the given target pose.

[ERROR] [1682319061.851170673, 8.057000000]: Found empty JointState message

I will provide my GitHub.

https://github.com/98kje/CJU_MASTER/b...

this part is launch (moveit and gazebo)

The main error is this phrase.

[ WARN] [1682319262.709269641, 208.409000000]: Timed out

The expected problem is

1. Collision problem of urdf
2. Increase the planning time (up to 300s if it was useless no matter how much you increase it)
3. Planner? (The same problem when using RRT and RRT connect)

4. See the code.

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   /* Authors: Sachin Chitta
                           Jonathan Cacace
   */
   #include <moveit/move_group_interface/move_group_interface.h>
   #include <moveit/planning_scene_interface/planning_scene_interface.h>
   
   #include <moveit/move_group_interface/move_group_interface.h>
   
   #include <moveit_msgs ...