MGI: Failed to fetch current robot state

[akhilkp777]

I tried to add constraint motion in ros2 moveit cpp code, but got the above error. some github solutions are suggested to remap the joint_state topic. But ut doesn't work for me. Anyone know how to solve this issue

[moveit_cpp_tutorial-4] [INFO] [1675937187.657785499] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[moveit_cpp_tutorial-4] Check clock synchronization if your are running ROS across multiple machines!
[moveit_cpp_tutorial-4] [ERROR] [1675937187.657812738] [move_group_interface]: Failed to fetch current robot state

[qboticslabs]

@akhilkp777 If you install moveit from apt, you can try the following fix

Execute following command

sudo gedit /opt/ros/humble/lib/python3.10/site-packages/moveit_configs_utils/launches.py

Add "use_sim_time": True, on line after

"monitor_dynamics": False,

So final code will be

    move_group_configuration = {
        "publish_robot_description_semantic": True,
        "allow_trajectory_execution": LaunchConfiguration("allow_trajectory_execution"),
        # Note: Wrapping the following values is necessary so that the parameter value can be the empty string
        "capabilities": ParameterValue(
            LaunchConfiguration("capabilities"), value_type=str
        ),
        "disable_capabilities": ParameterValue(
            LaunchConfiguration("disable_capabilities"), value_type=str
        ),
        # Publish the planning scene of the physical robot so that rviz plugin can know actual robot
        "publish_planning_scene": should_publish,
        "publish_geometry_updates": should_publish,
        "publish_state_updates": should_publish,
        "publish_transforms_updates": should_publish,
        "monitor_dynamics": False,
        "use_sim_time": True,        
    }

Save it and try execute the code

Reference:

If you setup moveit from source code, i think this fix is already done, if not you can add this into same file.

[yeyanlei]

@qboticslabs @akhilkp777 GitHub question, translated into English: @qboticslabs @akhilkp777 I have encountered the same issue, and I have set "use_sim_time": True in both the /opt/ros/humble/lib/python3.10/site-packages/moveit_configs_utils/launches.py file and the moveit.launch.py file. In Rviz, MoveIt can plan and execute, but when using a C++ program, it reports the following error. Could you please provide assistance? Thank you.

ros2 launch moveit2_tutorials move_group_interface_tutorial.launch.py
[INFO] [launch]: All log files can be found below /home/robot/.ros/log/2023-04-06-15-38-16-583006-c-80920
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group_interface_tutorial-1]: process started with pid [80921]
[move_group_interface_tutorial-1] [INFO] [1680766696.896307773] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0278734 seconds
[move_group_interface_tutorial-1] [INFO] [1680766696.896364812] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[move_group_interface_tutorial-1] [INFO] [1680766696.930198795] [move_group_interface]: Ready to take commands for planning group panda_arm.
[move_group_interface_tutorial-1] [INFO] [1680766696.942789451] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group_interface_tutorial-1] [WARN] [1680766696.944043430] [moveit_ros.current_state_monitor]: Unable to update multi-DOF joint 'virtual_joint':Failure to lookup transform between 'world'and 'panda_link0' with TF exception: "panda_link0" passed to lookupTransform argument source_frame does not exist.
[move_group_interface_tutorial-1] [INFO] [1680766697.942866961] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group_interface_tutorial-1] Check clock synchronization if your are running ROS across multiple machines!
[move_group_interface_tutorial-1] [ERROR] [1680766697.942905819] [move_group_interface]: Failed to fetch current robot state
[move_group_interface_tutorial-1] Stack trace (most recent call last):
[move_group_interface_tutorial-1] #4 Object "", at 0xffffffffffffffff, in
[move_group_interface_tutorial-1] #3 Object "/home/robot/ws_moveit2/install/moveit2_tutorials/lib/moveit2_tutorials/move_group_interface_tutorial", at 0x56052e7debe4, in _start
[move_group_interface_tutorial-1] #2 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7faeff1c1e3f]
[move_group_interface_tutorial-1] #1 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7faeff1c1d8f]
[move_group_interface_tutorial-1] #0 Object "/home/robot/ws_moveit2/install/moveit2_tutorials/lib/moveit2_tutorials/move_group_interface_tutorial", at 0x56052e7dbb67, in main
[move_group_interface_tutorial-1] Segmentation fault (Address not mapped to object [(nil)])
[ERROR] [move_group_interface_tutorial-1]: process has died [pid 80921, exit code -11, cmd '/home/robot/ws_moveit2/install/moveit2_tutorials/lib/moveit2_tutorials/move_group_interface_tutorial --ros-args -r _node:=move_group_interface_tutorial --params-file /tmp/launch_params_gklulxa2 --params-file /tmp/launch_params_nqt__koh --params-file /tmp/launch_params_hr4b0gq'].

[yeyanlei]

const moveit::core::JointModelGroup* joint_model_group =
move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);

log:

[move_group_interface_tutorial-1] [INFO] [1680775155.255027553] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1680775154.254896, but latest received state has time 454.390000.

[yeyanlei]

some additional information added as follows:

/gazebo:
enable_performance_metrics
publish_rate
qos_overrides./clock.subscription.depth
qos_overrides./clock.subscription.durability
qos_overrides./clock.subscription.history
qos_overrides./clock.subscription.reliability
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
use_sim_time

ros2 param get /gazebo use_sim_time
Boolean value is: True

[yeyanlei]

I have already resolved this problem, thank you everyone. by adding {"use_sim_time": True}

from launch import LaunchDescription
from launch_ros.actions import Node
from moveit_configs_utils import MoveItConfigsBuilder

def generate_launch_description():
moveit_config = MoveItConfigsBuilder("moveit_resources_panda").to_moveit_configs()

# MoveGroupInterface demo executable
move_group_demo = Node(
    name="move_group_interface_tutorial",
    package="moveit2_tutorials",
    executable="move_group_interface_tutorial",
    output="screen",
    parameters=[
        moveit_config.robot_description,
        moveit_config.robot_description_semantic,
        moveit_config.robot_description_kinematics,
        {"use_sim_time": True},
    ],
)

return LaunchDescription([move_group_demo])

[henningkayser]

@akhilkp777 does use_sim_time also fix this issue for you?

[okvik]

I've encountered the same issue without simulation in Gazebo involved. Setting use_sim_time:=True for all the nodes fixes the issue.