moveit can't fetch the joint_states #286
Description
hello, i wanna get the joint_states by move_group_interface.getCurrentPose().pose; ,but it always show the erro can't fetch the current state joint_states. I know the point is the name of joint_states is "/lbr/joint_states", so i remap the "/joint_states" to "/lbr/joint_states", but it still didn't work and seems like the remapping didn't work.
[INFO] [launch]: All log files can be found below /home/let/.ros/log/2025-07-02-18-03-42-726823-let-virtual-machine-11654
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [hello_moveit-1]: process started with pid [11655]
[hello_moveit-1] [INFO] [1751450623.032841011] [hello_moveit]: Initializing MoveGroupInterface with namespace: lbr
[hello_moveit-1] [INFO] [1751450623.032963000] [hello_moveit]: Configured joint state topic: /joint_states
[hello_moveit-1] [INFO] [1751450623.039425587] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00618439 seconds
[hello_moveit-1] [INFO] [1751450623.039500426] [moveit_robot_model.robot_model]: Loading robot model 'iiwa7'...
[hello_moveit-1] [INFO] [1751450623.039516601] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[hello_moveit-1] [INFO] [1751450623.088055766] [move_group_interface]: Ready to take commands for planning group arm.
[hello_moveit-1] [INFO] [1751450623.088611415] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[hello_moveit-1] [INFO] [1751450627.147455738] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1751450626.147250, but latest received state has time 0.000000.
[hello_moveit-1] Check clock synchronization if your are running ROS across multiple machines!
[hello_moveit-1] [ERROR] [1751450627.147554250] [move_group_interface]: Failed to fetch current robot state
[hello_moveit-1] [INFO] [1751450627.147578944] [hello_moveit]: Current End Effector Pose:
[hello_moveit-1] Position -> x: 0.000, y: 0.000, z: 0.000
[hello_moveit-1] Orientation -> x: 0.000, y: 0.000, z: 0.000, w: 1.000
[INFO] [hello_moveit-1]: process has finished cleanly [pid 11655]
i have no idea, so can you give me some suggestions. And i paste the change below
hello_moveit,launch.py
from typing import List
from launch import LaunchContext, LaunchDescription, LaunchDescriptionEntity
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from lbr_bringup.description import LBRDescriptionMixin
from lbr_bringup.moveit import LBRMoveGroupMixin
def hidden_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
ld = LaunchDescription()
model = LaunchConfiguration("model").perform(context)
mode = LaunchConfiguration("mode").perform(context)
use_sim_time = False
if mode == "gazebo":
use_sim_time = True
# generate moveit configs
moveit_configs = LBRMoveGroupMixin.moveit_configs_builder(
robot_name=model,
package_name=f"{model}_moveit_config",
)
# launch demo node
ld.add_action(
Node(
package="lbr_moveit_cpp",
executable="hello_moveit",
parameters=[
moveit_configs.to_dict(),
{"use_sim_time": use_sim_time},
LBRDescriptionMixin.param_robot_name(),
],
**remappings=[
("joint_states", "/lbr/joint_states"),
],**
)
)
return ld.entities
def generate_launch_description() -> LaunchDescription:
ld = LaunchDescription()
ld.add_action(LBRDescriptionMixin.arg_model())
ld.add_action(LBRDescriptionMixin.arg_mode())
ld.add_action(OpaqueFunction(function=hidden_setup))
return ld
move_group.launch.py
from typing import List
from launch import LaunchContext, LaunchDescription, LaunchDescriptionEntity
from launch.actions import OpaqueFunction
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from lbr_bringup.description import LBRDescriptionMixin
from lbr_bringup.moveit import LBRMoveGroupMixin
from lbr_bringup.rviz import RVizMixin
def hidden_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
ld = LaunchDescription()
ld.add_action(LBRDescriptionMixin.arg_robot_name())
ld.add_action(LBRMoveGroupMixin.arg_allow_trajectory_execution())
ld.add_action(LBRMoveGroupMixin.arg_capabilities())
ld.add_action(LBRMoveGroupMixin.arg_disable_capabilities())
ld.add_action(LBRMoveGroupMixin.arg_monitor_dynamics())
ld.add_action(LBRMoveGroupMixin.args_publish_monitored_planning_scene())
model = LaunchConfiguration("model").perform(context)
moveit_configs_builder = LBRMoveGroupMixin.moveit_configs_builder(
robot_name=model,
package_name=f"{model}_moveit_config",
)
move_group_params = LBRMoveGroupMixin.params_move_group()
mode = LaunchConfiguration("mode").perform(context)
use_sim_time = False
if mode == "gazebo":
use_sim_time = True
# MoveGroup
robot_name = LaunchConfiguration("robot_name")
ld.add_action(
LBRMoveGroupMixin.node_move_group(
parameters=[
moveit_configs_builder.to_dict(),
move_group_params,
{"use_sim_time": use_sim_time},
],
namespace=robot_name,
**remappings=[
("joint_states", "/lbr/joint_states"),
]**
)
)
# RViz if desired
rviz = RVizMixin.node_rviz(
rviz_cfg_pkg=f"{model}_moveit_config",
rviz_cfg="config/moveit.rviz",
parameters=LBRMoveGroupMixin.params_rviz(
moveit_configs=moveit_configs_builder.to_moveit_configs()
)
+ [{"use_sim_time": use_sim_time}],
remappings=[
(
"display_planned_path",
PathJoinSubstitution([robot_name, "display_planned_path"]),
),
("joint_states", PathJoinSubstitution([robot_name, "joint_states"])),
(
"monitored_planning_scene",
PathJoinSubstitution([robot_name, "monitored_planning_scene"]),
),
("planning_scene", PathJoinSubstitution([robot_name, "planning_scene"])),
(
"planning_scene_world",
PathJoinSubstitution([robot_name, "planning_scene_world"]),
),
(
"robot_description",
PathJoinSubstitution([robot_name, "robot_description"]),
),
(
"robot_description_semantic",
PathJoinSubstitution([robot_name, "robot_description_semantic"]),
),
(
"recognized_object_array",
PathJoinSubstitution([robot_name, "recognized_object_array"]),
),
],
condition=IfCondition(LaunchConfiguration("rviz")),
)
ld.add_action(rviz)
return ld.entities
def generate_launch_description() -> LaunchDescription:
ld = LaunchDescription()
ld.add_action(LBRDescriptionMixin.arg_mode())
ld.add_action(LBRDescriptionMixin.arg_model())
ld.add_action(RVizMixin.arg_rviz())
ld.add_action(OpaqueFunction(function=hidden_setup))
return ld
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