Moveit! Joint_state issue

Failed to validate trajectory: couldn't receive full current joint state within 1s error

第一，确认你确实有发布joint state topic ，无论是模拟的还是真实的。

In the official page MoveIt! concepts, under the Joint State Information section, it says that:

Note that move_group will not setup its own joint state publisher - this is something that has to be implemented on each robot.

第二，检查一下是不是等待时间太短了，把sleep时间调长一点儿试试。

         traj = arm.plan()
         
        # Execute the planned trajectory
        arm.execute(traj)
        
        # Pause for a moment
        rospy.sleep(1)     

我用的是fake joint state数据， 调长sleep 时间之后解决的。