今天在配置MoveIt!和Gazebo做抓取仿真的时候遇到了一个奇怪的问题,配置好之后moveit!规划的路径无法执行,terminal显示:
Failed to validate trajectory: couldn't receive full current joint state within 1s error
Google了一圈找到了解决方案:
只需要在launch file(我的起名叫ur10_robotiq_bringup_moveit.launch)里添加:
<node name="joint_state_publisher" <