Cartesian plan crashes #2
Description
I encountered an issue when clicking the cartesian plan in rviz, and then the gui will be crashed. I 've set the use_sim_time to True.
The following is printed:
-1] [INFO] [1758795013.691974815] [moveit_2340375680.moveit.ros.motion_planning_frame]: group arm
[rviz2-1] [INFO] [1758795013.692005183] [moveit_2340375680.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[rviz2-1] [INFO] [1758795013.702332611] [moveit_2340375680.moveit.ros.move_group_interface]: Ready to take commands for planning group arm.
[rviz2-1] [INFO] [1758795013.702900588] [moveit_2340375680.moveit.ros.motion_planning_frame]: group arm
[rviz2-1] [INFO] [1758795013.731946501] [interactive_marker_display_103488947649968]: Sending request for interactive markers
[rviz2-1] [INFO] [1758795013.738909721] [interactive_marker_display_103488947649968]: Service response received for initialization
[rviz2-1] [INFO] [1758795016.042569935] [moveit_2340375680.moveit.ros.move_group_interface]: Plan and Execute request accepted
[rviz2-1] [INFO] [1758795019.919514899] [moveit_2340375680.moveit.ros.move_group_interface]: Plan and Execute request complete!
[rviz2-1] [WARN] [1758795020.544604740] [moveit_2340375680.moveit.ros.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1758794958.203s
[rviz2-1] [INFO] [1758795021.180131238] [moveit_2340375680.moveit.ros.motion_planning_frame]: Achieved 100.000000 % of Cartesian path
[rviz2-1] [INFO] [1758795021.180866895] [moveit_2340375680.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[rviz2-1] [INFO] [1758795022.180950094] [moveit_2340375680.moveit.ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1758795021.180880, but latest received state has time 63.269000.
[rviz2-1] Check clock synchronization if your are running ROS across multiple machines!
[rviz2-1] [ERROR] [1758795022.180999843] [moveit_2340375680.moveit.ros.move_group_interface]: Failed to fetch current robot state
[ERROR] [rviz2-1]: process has died [pid 104833, exit code -11, cmd '/opt/ros/jazzy/lib/rviz2/rviz2 -d /home/hao/rm_simulation/install/bme_ros2_simple_arm_moveit_config/share/bme_ros2_simple_arm_moveit_config/config/moveit.rviz --ros-args --params-file /tmp/launch_params_p6b32ytd --params-file /tmp/launch_params_hh8t9zj1 --params-file /tmp/launch_params_pqhye0hl'].