Hi,
Is there anyway to set the initial joint angles of the robot ? After reading a lot of pages and some packages of several robots, I have seen that it can be done by adding some args to the spawning node. However, I haven't been able to make it work for me. Right now, what I am doing is:
<node name="arm_base_spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model schunk_lwa4p_and_base
-J schunk_lwa4p_and_base::J_foldingSupport 0.075
-J schunk_lwa4p_and_base::J1_PowerBall -1.5607
-J schunk_lwa4p_and_base::J2_PowerBall -0.3817"
respawn="false" output="screen" />
The robot is a lwa4p mounted over a mobile platform. For doing that, I am using xacros, being the robot schunk_lwa4p_and_base the union of all the xacros.
I would really appreciate if you can help me. Thank you in advance,
JLuis Samper
Originally posted by Samper-Esc on ROS Answers with karma: 50 on 2015-08-24
Post score: 1
Original comments
Comment by dornhege on 2015-08-24:
Do you need that from config file? Or would just setting defaults in the URDF be sufficient?
Comment by Samper-Esc on 2015-08-24:
Setting defaults is sufficient