Planning to a joint space goal - error

I am taking the course for [mastering mobile manipulators]
Ch3 - Setting Up Manipulation (part 2)
Planning to a joint space goal part.

At the last point,
when I launched the file, error happens.

Hello @hki,

Is this happening in the planning only? Or when trying to execute the trajectory in the simulation? Does it only happen in the joint space planning?

By the way, this is a known issue in MoveIt which usually appears when there’s a lot of load in the computer, making MoveIt run really slow. If the error persists, you can try to deactivate the MoveIt Rviz GUI window in the launch file. You can do so by commenting this section:

<include file="$(find rbkairos_moveit_config)/launch/moveit_rviz.launch">

  <arg name="config" value="true"/>


Hope this helps,