Didn't receive robot state (joint angles) with recent timestamp within 1 seconds

error message ：

Didn't receive robot state (joint angles) with recent timestamp within 1 seconds.Check clock synchronization if your are running ROS across multiple machines

My environment ,joint_states from gazebo Release ,move_group Subscribe to this topic , among moveit The source code is ：

After investigation, it was found that gazebo released joint_state Timestamp remainder ros Timestamps are very different , Out of sync .

resolvent ：

stay gazebo Sponsored launch The parameters in the file need to be explicitly use_sim_time Set to true Talent

<arg name="use_sim_time" default="true"/>

  <!-- launch the gazebo simulator and spawn the robot -->
  <include file="$(find robot_moveit_config)/launch/gazebo.launch" >
    <arg name="paused" value="$(arg paused)"/>
    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
    <arg name="urdf_path" value="$(arg urdf_path)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>

  </include>