ROS Moveit:rviz和gazebo仿真出现rviz规划后gazebo没有反应

在用rviz规划后，警告

[ WARN] [1649654675.728414350, 42.937000000]: Failed to validate trajectory: couldn't receive full current joint state within 1s

翻译：无法验证轨迹：无法在 1 秒内接收到完整的当前关节状态

问题：gazebo在一秒内没有接收到完整的轨迹（末端工具在笛卡尔空间下的轨迹规划）--关节状态（对应关节空间的轨迹规划）。

解决：

修改前的xxx_bringup_moveit.launch

<launch>
  
    <!-- Launch Gazebo  -->
    <include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_gazebo_world.launch" />

    <!-- ros_control arm launch file -->
    <include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_gazebo_states.launch" />   

    <!-- ros_control trajectory control dof arm launch file -->
    <include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_trajectory_controller.launch" />

    <!-- moveit launch file -->
    <include file="$(find probot_anno_moveit_config)/launch/moveit_planning_execution.launch" />

</launch>

修改后的xxx_bringup_moveit.launch

<launch>
  
    <!-- Launch Gazebo  -->
    <include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_gazebo_world.launch" />

    <!-- ros_control arm launch file -->
    <include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_gazebo_states.launch" />   

    <!-- ros_control trajectory control dof arm launch file -->
    <include file="$(find probot_gazebo)/launch/probot_anno/probot_anno_trajectory_controller.launch" />

    <!-- moveit launch file -->
    <include file="$(find probot_anno_moveit_config)/launch/moveit_planning_execution.launch" />
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    	<param name="/use_gui" value="false"/>
    	<rosparam param="/source_list">[/joint_states]</rosparam>
    </node>

</launch>

可以从修改的代码看出，添加的节点，加入关节位置发布者。