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.

Error:
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“ur_sort.py”:
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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 in error message reflects my PC’s total run time instead of the current simulation time step. I tried several ways to set the ‘use_sim_time’ param to true globally before initializing ‘moveit_py’ but it’s not working out.