the model do not move to the goal in the moveit ,the procedure to interface MoveIt! to Gazebo

[j7451229]

HI! When I follow the step in chapter4:Interfacing the MoveIt! configuration package to Gazebo
I run the moveit and gazebo successful,then when i set the new goal and excuting in the moveit,the model success move to the new goal in gazebo,but did not follow the trajectory and move to the new goal in moveit.
when i set the second goal,the model in the gazebo will go back to the original state then go to the second goal.
How can i solve this problem or how should i do ?