Subscribe Joint State does not work with custom urdf on Isaac Sim 2022.1.0

Hi,
I try to add UR5 robot urdf to Isaac Sim 2022.1.0. I read the new Isaac Sim Tutorials(Ros - Chapter 8&9) . Joint State Publisher works but Joint State Subscriber does not work. I can observe joint states with Rviz, but I can not control the robot with Moveit. How can I connect my robot to ROS? Btw I can control Ros Moveit Example - Panda Arm with demo.launch but it does not work with UR5 demo.launch

Problem is solved

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