SImulator /joint_states and /joint_states_p doens not change

[12B-theDon]

Hi,

Im using ubuntu 22.04, coppeliaSim Edu V4_10, ROS2.

problem 1: /joint_states does not change, for arm joints.

Im trying to dealing with minimizing simulation and real-world ep robot platform physical gap. However, I just found out that /joint_states is always same no matter you move the robot arm. Also, /joint_states_p does not even be published.

The example /joint_states topic message is like below:.

---
header:
stamp:
sec: 1762683902
nanosec: 45517082
frame_id: ''
name:

• front_left_wheel_joint
• front_right_wheel_joint
• rear_left_wheel_joint
• rear_right_wheel_joint
• arm_1_joint
• arm_2_joint
• endpoint_bracket_joint
• rod_1_joint
• rod_2_joint
• rod_3_joint
• rod_joint
• triangle_joint
• gripper_m_joint
• left_gripper_joint_1
• left_gripper_joint_2
• left_gripper_joint_4
• left_gripper_joint_6
• left_gripper_joint_7
• left_gripper_joint_5
• right_gripper_joint_1
• right_gripper_joint_2
• right_gripper_joint_4
• right_gripper_joint_5
• right_gripper_joint_6
• right_gripper_joint_7
  position:
• 0.028571264100154373
• 6.237164479098801
• 6.225659272078604
• 6.224700504826922
• -0.0009674197563558362
• 0.0006403419378450542
• 0.000327077818510782
• -0.000327077818510782
• -0.0009674197563558362
• -0.0006403419378450542
• -0.000327077818510782
• 0.0009674197563558362
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
  velocity:
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
  effort: []

---

Problem2: use_sim_time

When I save a rosbag( /joy topic only), and than make it play, it doesn't actually make EP platform move identically when I control. For example, lets say that I made a joy control go forward 1m and turn 90 degrees. But when I ros play that rosbag file, it goes more or less than 1m and turn less or more than 90 degrees. I believe this is a simulation time sync error.

My problem is highly related to checking coppeliasim and real-world robot difference. Have you ever validate the commands on simulation is exactly same as real-world robot control? Also, have you ever considered setting initial position for real ep platform to prevent initial arm position differences every time?

Please check the message, and let me know your opinion, It greatly helps me.

Thanks.