Hi,
I’m trying to implement MoveIt2 on Isaac Sim with a custom robot, but I’m having some issues. I was able to do it in a real environment, but I’m encountering problems in the simulation.
I can control the robot arm through the Isaac Sim Physics Inspector, but I cannot implement Plan and Execute with MoveIt2.
I will upload my environment USD file and code Here.
#contain nav2_example.usd , lime_usd and src (for ros2 colcon build)
Issue: Planning and Execute have failed.
Step:
- play on Isaac sim
- run
ros2 launch turtlebot3_lime_moveit_config moveit_core.launch.py
- Plan & Execute
Video:
Error:
[move_group-2] [INFO] [1729667211.028810631] [moveit.ompl_planning.model_based_planning_context]: Planner configuration ‘arm’ will use planner ‘geometric::RRTConnect’. Additional configuration parameters will be set when the planner is constructed.
[move_group-2] [WARN] [1729667211.058517002] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.
[move_group-2] [INFO] [1729667211.061928987] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-1] [INFO] [1729667211.062841500] [move_group_interface]: Planning request complete!
[rviz2-1] [INFO] [1729667211.063811730] [move_group_interface]: time taken to generate plan: 0.0291518 seconds
[move_group-2] [INFO] [1729667213.449659936] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-2] [INFO] [1729667213.449987627] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-2] [INFO] [1729667213.450066769] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-2] [INFO] [1729667213.450105545] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[rviz2-1] [INFO] [1729667213.449993945] [move_group_interface]: Execute request accepted
[move_group-2] [INFO] [1729667213.450277792] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-2] [INFO] [1729667214.450368988] [moveit_ros.current_state_monitor]: Didn’t receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1729667213.450291, but latest received state has time 148.583341.
[move_group-2] Check clock synchronization if your are running ROS across multiple machines!
[move_group-2] [WARN] [1729667214.450485935] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn’t receive full current joint state within 1s
[move_group-2] [INFO] [1729667214.450540134] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-1] [INFO] [1729667214.451078035] [move_group_interface]: Execute request aborted
[rviz2-1] [ERROR] [1729667214.451165542] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached