I have a mobile robot(husky) with two UR5 manipulators on top of it. I have set the initial joint angles in the launch file but the robot does not go to that pose when I run Gazebo. I don't know if the URDF has to do something with this. Please help resolve this so that the robot spawns with the right joint angles. Following is my launch file:

<?xml version="1.0"?>

  <!-- Start gazebo -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find husky_dual_ur5_config)/worlds/apple_rosbag.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>

  <!-- Load the URDF into the ROS parameter server -->
  <param name="robot_description" command="$(find xacro)/xacro '$(find husky_dual_ur5_description)/urdf/husky_dual_ur5.urdf.xacro'"/>

  <!-- Spawn robot in gazebo -->
  <node name="spawn_husky_model" pkg="gazebo_ros" type="spawn_model"
    args="-x 0.0
          -y 0.0
          -z 0.1
          -Y 0.0
          -J r_ur5_arm_shoulder_pan_joint -1.57 
          -J r_ur5_arm_shoulder_lift_joint -0.1745 
          -J r_ur5_arm_elbow_joint -2.1
          -J r_ur5_arm_wrist_1_joint -1.57 
          -J r_ur5_arm_wrist_2_joint 0.0 
          -J r_ur5_arm_wrist_3_joint 0.0 
          -J l_ur5_arm_shoulder_pan_joint -1.57
          -J l_ur5_arm_shoulder_lift_joint -0.1745
          -J l_ur5_arm_elbow_joint -2.1
          -J l_ur5_arm_wrist_1_joint -1.57
          -J l_ur5_arm_wrist_2_joint 0.0
          -J l_ur5_arm_wrist_3_joint 0.0
          -param robot_description
          -model vaultbot
          -gazebo_namespace gazebo
<!-- Load the robot's controllers and drivers -->
  <include file="$(find husky_dual_ur5_config)/launch/husky_dual_ur5_nav_driver.launch" />
  <include file="$(find husky_dual_ur5_config)/launch/husky_dual_ur5_nav_controller.launch" />
  <include file="$(find husky_dual_ur5_config)/launch/husky_dual_ur5_manip_driver.launch" />
  <include file="$(find husky_dual_ur5_config)/launch/husky_dual_ur5_manip_controller.launch" />



Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge that you have read and understand our privacy policy and code of conduct.

Browse other questions tagged or ask your own question.