Moveit2 doesnt work with simulation time

[TheConstructAi]

Description

We had to set the use_sim_time hardcoded her MOD to launches.py
To avoid failing the execution of trajectories.

The question is how is it supposed to be set using the new system of :

def generate_launch_description(): moveit_config = MoveItConfigsBuilder("panda", package_name="my_panda_moveit_config").to_moveit_configs() return generate_move_group_launch(moveit_config)

We imagine that this has to be done somehow, but what is the way the moveit2 developers consider that it should be set? Because the setup assistant doesn't seem to consider that possibility in the config files anywhere when it generates the config files.

Your environment

• ROS Distro: HUMBLE
• OS Version: Ubuntu 22.04
• Source or Binary build? SOurce
• If source, which branch? Humble, forked here: moveit2

Steps to reproduce

Launch a simulation with a movitconfig generated with wizard.
You can try it using this ROSject: https://app.theconstructsim.com/l/537b5a08/

Expected behaviour

It should work with simulations by being able to set somewhere easy the use_sim_time, or detect that the clock topic is there.

Actual behaviour

Unless you hardcode to use the ' use_sim_time' the trajectories in moveitr are planned but not executed

[henningkayser]

The config builder is just producing a dict in the end, so adding or overriding values after returning the config would be the way to go, currently. In this particular case it's debatable if adding support for a MoveGroup config file would be more adequate, though.

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[jeans-s12]

I have the same problem, I need to transfer "use_sim_time: true", how can I do this?

[DiegoCarvajal98]

I have the same problem, I need to transfer "use_sim_time: true", how can I do this?

I just set the use_sim_time parameter to true after starting everything and is working, the command I used is this one:

ros2 param set /move_group use_sim_time true

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions]

This issue was closed because it has been stalled for 45 days with no activity.