Moveit Error: Failed to fetch current robot state

在获取Moveit中机械臂当前状态时遇到报错：Failed to fetch current robot state

获取当前位置代码如下：

  // Get the current pose of the end effector
  geometry_msgs::msg::Pose current_pose = move_group_interface.getCurrentPose().pose;

  // Print the current pose
  RCLCPP_INFO(node->get_logger(), "Current Pose:");
  RCLCPP_INFO(node->get_logger(), "Position: [x: %f, y: %f, z: %f]",
              current_pose.position.x, current_pose.position.y, current_pose.position.z);
  RCLCPP_INFO(node->get_logger(), "Orientation: [x: %f, y: %f, z: %f, w: %f]",
              current_pose.orientation.x, current_pose.orientation.y,
              current_pose.orientation.z, current_pose.orientation.w);

经排查发现是未在功能函数中对ROS消息回调进行异步处理，增加异步处理程序：

  // Create an executor and spin it in a separate thread
  rclcpp::executors::MultiThreadedExecutor executor;
  executor.add_node(node);

  std::thread executor_thread([&executor]() {
    executor.spin();

问题解决。