[moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 10.000000 seconds.

[Divyam-uga]

Hello,

I have set up a Gazebo simulation with 2 UR manipulators and I'm attempting to control one UR robot using moveit_py. I've followed the necessary configuration steps, including setting use_sim_time to true in Gazebo and all related nodes. However, I'm encountering an issue where 'current_state_monitor.cpp' is not receiving joint_angles with recent timestamps.

I've verified that joint states are being published in the correct sim time using "ros2 topic echo /joint_states" and "ros2 topic echo /clock", but it seems that the requested time reflects my PC's total run time instead of the current simulation time step. As a beginner in ROS 2 and Moveit 2, I'm unsure how to address this issue. I tried several ways to set the 'use_sim_time' param to true globally before initializing 'moveit_py' but it's not working out.

Any guidance on resolving this would be greatly appreciated.

Thank you.

Error message:

'ur_sort.py':