【MoveIt!和Gazebo】Failed to validate trajectory: couldn't receive full current joint state

参考：
1. https://answers.ros.org/question/252114/failed-to-validate-trajectory-couldnt-receive-full-current-joint-state-within-1s-error/

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" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/>
    <rosparam param="/source_list">[/ur10_robotiq/joint_states]rosparam>
node>

原因是：
Trajectory validation was recently added to the Trajectory Execution Manager in MoveIt. For it to work, it needs access to the JointStates of your (simulated) robot.
然而：
move_group subscribes to joint_states topic and Gazebo publishes to /ur10_robotiq/joint_states topic. So, writing a node which subscribes to /ur10_robotiq/joint_states and publishes to /joint_states might do.