arm.get_current_pose() results in ERROR: "Failed to fetch current robot state"

[FlurinArner]

Description

When requesting the current pose from the MoveGroupCommander("manipulator") through the get_current_pose() Function, the function fails.
At first I thought it was related to an issue with moveit_planner, but if I build their source for moveit, the "Found empty JointState message" disappears, while this issue remains.
As soon as ROS Answers is back up, I'm going to post a question there and link it on&to this page.

Your Environment

• ROS Distro: Kinetic
• OS Version: Ubuntu 16.04
• Source or Binary build?: Binary build for ROS, then source build for denso:kinetic-devel with commit: 3e725b1

Steps to reproduce

• Create and move to workspace source folder:
  mkdir -p denso_kinetic_devel_ws/src
cd denso_kinetic_devel_ws/src
• Download source for denso:kinetic-devel:
  git clone [email protected]:start-jsk/denso.git
• Edit following python script with preferred editor:
  denso/vs060/scripts/irex_demo_noteaching.py
• Add in lines (after line 94: arm.go() or arm.go() or rospy.logerr("arm.go fails") ):
  current_pose = arm.get_current_pose()
rospy.loginfo("Current pose: \n{}".format(current_pose.pose))
• Save file.
• Build workspace:
  cd ..
catkin_make
• Source workspace:
  source devel/setup.bash
• Run launchfile:
  roslaunch vs060_moveit_config demo_simulation_cage.launch

Expected behavior

arm.get_current_pose() returns the current pose of the end_effector (Flange in denso's case)

Actual behavior

Error message:

[ERROR] [1513090715.277469722]: Failed to fetch current robot state

Console output

logfile_for_issue_2.txt
(I only removed username@computername references)

[FlurinArner]

Following this answer was finally able to solve the problem by editing the launchfile:

• In denso/vs060_moveit_config/launch/demo_simulation_cage.launch, after line 8:
  <node name="spawn_cage" pkg="vs060" type="irex_demo_noteaching.py" />

• Add the following lines:
  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="30.0" />
<rosparam param="/source_list"> [/arm_controller/joint_states] </rosparam>
</node>

Now the current_pose is returned and all works, but this feels much like a hack around the problem.
I doesn't make sense to publish the same information for joint_states, under two separate topics (/joint_states and /arm_controller/joint_states).
Maybe this is more of a problem with moveit_commander, than with denso..
Feel free to close this "Issue", and I'll be asking the same question on answers.ros.org

[Heisenberg1997]

can you give a more detail Introduction about that. I have the same problem and I don't know the which joint pub need change. please