Hey everyone!
My problem is related to this one: http://answers.ros.org/question/252114/failed-to-validate-trajectory-couldnt-receive-full-current-joint-state-within-1s-error/. Also to this one: http://answers.ros.org/question/254927/failed-to-validate-trajectory-after-updating-moveit-feb-2017/.
The thing is, much like the OP of these questions, Often I would receive the following warning message from MoveIt! when trying to execute trajectories (in Gazebo):
Failed to validate trajectory: couldn't receive full current joint state within 1s
After that, I am no longer able to execute more trajectories with MoveIt! until I restart the whole simulation.
Unlike what the comments and answers of the previously referenced questions suggest, my move_group node is subscribed to the correct joint_states topic, and the joint angles of the robots are being published here (@50Hz). In fact, while I have this problem in ROS Kinetic. My setup worked just fine in ROS Indigo.
Even when the previous warning does not appear, I would get the following this other one:
Failed to fetch current robot state
After this warning, I can still work with MoveIt!, although it is a strong indicative that the robot's state is not being monitored and/or updated by the move_group node.
I am working with a Barrett WAM simulated arm (actually, with a couple of them combined in a single robot). As I said, I am working with ROS Kinetic and with the version of MoveIt! that is being shipped by the Ubuntu's repository. Also, everything works fine in ROS Indigo (which, of course, comes with an older MoveIt!'s version). Below you can see a fragment of a log I got in a session with MoveIt! in Kinetic:
[ INFO] [1490477334.335206408, 42.968000000]: Cancelling execution for iri_wam_picker_controller
[ WARN] [1490477335.335728535, 43.168000000]: Failed to receive current joint state
[ INFO] [1490477335.336702721, 43.168000000]: Execution completed: TIMED_OUT
[ WARN] [1490477380.333069544, 52.725000000]: Failed to fetch current robot state.
[ INFO] [1490477380.333307431, 52.725000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1490477380.345604383, 52.725000000]: Planner configuration 'picker[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner i$
constructed.
[ INFO] [1490477380.357309208, 52.728000000]: picker[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1490477380.359983571, 52.729000000]: picker[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1490477380.364642171, 52.729000000]: picker[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1490477380.368296469, 52.730000000]: picker[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1490477380.529691461, 52.771000000]: picker[RRTConnectkConfigDefault]: Created 4 states (2 start + 2 goal)
[ INFO] [1490477380.547800109, 52.775000000]: picker[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal)
[ INFO] [1490477380.549793251, 52.776000000]: picker[RRTConnectkConfigDefault]: Created 4 states (2 start + 2 goal)
[ INFO] [1490477380.562846623, 52.777000000]: picker[RRTConnectkConfigDefault]: Created 4 states (2 start + 2 goal)
[ INFO] [1490477380.564459663, 52.777000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.209642 seconds
[ INFO] [1490477380.564928778, 52.777000000]: picker[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1490477380.567619783, 52.778000000]: picker[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1490477380.568293949, 52.778000000]: picker[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1490477380.580059275, 52.781000000]: picker[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1490477380.753351315, 52.804000000]: picker[RRTConnectkConfigDefault]: Created 4 states (2 start + 2 goal)
[ INFO] [1490477380.768773426, 52.805000000]: picker[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal)
[ INFO] [1490477380.774875723, 52.808000000]: picker[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal)
[ INFO] [1490477380.780975532, 52.808000000]: picker[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal)
[ INFO] [1490477380.781611245, 52.808000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.216859 seconds
[ INFO] [1490477380.782329675, 52.809000000]: picker[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1490477380.783739404, 52.809000000]: picker[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1490477380.947474992, 52.844000000]: picker[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal)
[ INFO] [1490477381.007068114, 52.857000000]: picker[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal)
[ INFO] [1490477381.007319507, 52.857000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.225111 seconds
[ INFO] [1490477381.150956902, 52.893000000]: SimpleSetup: Path simplification took 0.143422 seconds and changed from 3 to 17 states
[ INFO] [1490477388.151700910, 54.544000000]: Execution request received for ExecuteTrajectory action.
[ WARN] [1490477389.152529500, 54.731000000]: Failed to validate trajectory: couldnt receive full current joint state within 1s
[ INFO] [1490477389.152749783, 54.731000000]: Execution completed: ABORTED
[ WARN] [1490477421.458512817, 62.028000000]: Failed to fetch current robot state.
An this is my launch file:
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