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

[lxj123-abc]

控制真实机械臂的时候出现错误，获取不到真实机械臂的状态。我是rml63系列的机械臂
Didn't receive robot state (joint angles) with recent timestamp within 1 seconds.
Check clock synchronization if your are running ROS across multiple machines!
[ WARN] [1716529501.182747821]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[ INFO] [1716529501.197261913]: ABORTED: CONTROL_FAILED

[kaola-zero]

At present, many data information of robotic arms are actively reported, and the prerequisite for active reporting is to obtain your address. When using a virtual machine environment, it is very likely that your IP address is not publicly available, and if the robotic arm cannot obtain your IP address, it will not be able to report information, ultimately leading to problems.
Solution: Set the virtual machine network mode to bridge and use a third-party device to see if it can ping the address. The core is whether external third-party devices can ping the virtual machine and other addresses.
The above is my analysis, hoping it will be helpful to you.
目前机械臂的很多数据信息是主动上报的，主动上报的前提是能拿到你的地址。如果使用虚拟机环境时，你的IP地址很有可能对外是不公开的，机械臂拿不到你的IP地址，就没有办法上报信息，最终导致问题。
解决方式：设置虚拟机网络模式为桥接，使用第三方设备看是否能ping通该地址，核心就是，外部的第三方设备能不能ping通虚拟机地址。
以上是我的分析，希望对你有所帮助。

[DSGshunli]

我也是这个问题：使用2.4版本或2.5版本的ros1包进行开发机械臂时候，在跑官方教程时，虚拟机中rviz中仿真机械臂的姿态和真实机械臂的姿态不一致，利用rostopic /joint_states打印关节信息也没有信息反馈，虚拟机和机械臂可以ping 通，示教器也可以正常使用。机械臂控制器版本是第四代的

[Ezio-Da-Vinci]

我有一样的问题，是通过下载更老的对应版本的ROS二次开发包解决的（在Releases里点那个“9 tags”）。
在示教器里可以查到版本，然后在https://bbs.realman-robotics.cn/question/224.html 找到版本对应关系。
Ran into the same problem. Solved it by using the corresponding version.
You can look it up at https://bbs.realman-robotics.cn/question/224.html