Error with loading a robot initial pose

asked 2018-11-06 12:33:50 -0600

jcgarciaca gravatar image

updated 2018-11-06 12:35:02 -0600

I am trying to load an initial pose for my robot when running demo.launch file (according with this tutorial). Then my fake_controllers.yaml is as follow:

controller_list:
  - name: fake_manipulator_controller
    joints:
      - joint_1
      - joint_2
      - joint_3
  - name: fake_tool_group_controller
    joints:
      []
initial:
  - group: manipulator
    pose:  init_pose

And init_pose is defined in srdf file as well

<group_state name="init_pose" group="manipulator">
    <joint name="joint_1" value="0" />
    <joint name="joint_2" value="0.8" />
    <joint name="joint_3" value="0" />
</group_state>

However, sometimes the robot shows home position and sometimes init_pose.

Why does it happen?

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