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How to set an intial joint state to a robot arm in gazebo

asked 2016-08-25 19:11:13 -0500

johnyang gravatar image

Is there a way to give an initial joint state to a robot arm in gazebo? (e.g. from the launch file setting)

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answered 2017-10-17 05:08:08 -0500

Here is an example of how to do it from a launch file:

<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
      args="-urdf -model mbot -param robot_description -x 0.5 -y 0.5 -z 0.01 
      -J left_arm_joint0 0.0
      -J left_arm_joint1 1.18
      -J left_arm_joint2 0.12
      -J left_arm_joint3 0.92
      -J left_arm_joint4 0.24
      -J left_arm_joint5 0.63
      -J left_arm_joint6 0.44" />
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Asked: 2016-08-25 19:11:13 -0500

Seen: 341 times

Last updated: Oct 17 '17