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How to set the initial position of the robot in Rviz

asked 2020-01-20 11:29:32 -0600

Karthik_rangz gravatar image

updated 2020-01-20 11:38:40 -0600

I am using the UR robot controlled by moveit. The real robot is on a stand and in Rviz the robot shows at the origin. How do I set the position of the robot to a certain coordinate so I can use collision detection?

I am able to do that in Gazebo but not in Rviz. Where would I set the position?

Should I have to put it as a part of URDF along with the robot? or is there a workaround as making the stand a an object in the collision detection?

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answered 2020-01-20 15:23:02 -0600

Karthik_rangz gravatar image

I found the answer! Just update the origin(xyz and rpy) in the urdf.xacro file of the robot to the position you want to.

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Asked: 2020-01-20 11:29:32 -0600

Seen: 30 times

Last updated: Jan 20