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If you're simulating with gazebo, you can set the start pose when spawning the robot in the launch file like so:

<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" default="worlds/empty.world"/>
    <arg name="paused" value="true"/>
    <arg name="gui" value="$(arg gui)"/>
</include>

<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -unpause -param robot_description -model robot -z 0.0 -J elbow_joint -1.57" respawn="false" output="screen" />

Related: https://answers.ros.org/question/352418/how-to-force-set-robot-arm-joint-values/?answer=360894#post-id-360894