MoveIt doesn't assume the initial pose in RViz
I have modified the fake_controllers.yaml in my robot config package as described here. It has this final state:
controller_list:
- name: fake_manipulator_controller
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
- name: fake_endeffector_controller
joints:
[]
initial:
- group: manipulator
pose: home
And modified the SRDF file to add a new group_state omitting the joint elements here:
<group_state name="home" group="manipulator"> ... </group_state>
When I run roslaunch ur5_moveit_config demo.launch the robot doesn't take the initial home pose as I defined it. Although I can select home in the Select goal state dropdown menu and clicking update changes the goal state to the pose I defined in the SRDF file.
Can you point me what I may be missing?
I'm running ros-kinetic on Ubuntu 16.04. The robot is ur5 and I use the provided ur5_moveit_config package.
This is old, but are you launching the package that you built, or the binary you installed? What is the output of
rospack list | grep ur5_moveit_config?It is too old, I am not fully sure. Do you mean that the universal-robot package installed through apt-get may be run instead of the modified package? I don't remember if I had universal-robot installed in addition. Shouldn't ROS automatically choose the workspace version over the system version?
It should, but maybe you had a different workspace sourced, or the package wasn't built/linked yet, or another unrelated thing went wrong. I couldn't reproduce the problem at least.