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I used 'moveit_setup_assitant' to config my robot, but I cannot find where can I set the robot's initial pose. The question is that the robot's initial pose in simulation environment is not the same as the one in real world. So is there any way to change the initial pose when I launch the robot in 'demo.launch'?
Add an entry to fake_controllers.yaml referencing the named poses like this:
initial:
- group: panda_arm
pose: ready
- group: hand
pose: open
thx for your answering! The method works will in the fake_controllers.yaml, but I use ros_controller.yaml as controllers of my robot(in order to get way points from planning, I set fake_execution in demo.launch to be false). And I found the method will not work in this controller file.
controller_list:
- name: left_manipulator_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- ljoint1
- ljoint2
- ljoint3
- ljoint4
- ljoint5
- ljoint6
- ljoint7
- name: right_manipulator_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- rjoint1
- rjoint2
- rjoint3
- rjoint4
- rjoint5
- rjoint6
- rjoint7
initial:
- group: left_manipulator
pose: left_original
The position of your real-world robot is determined by reality, not the setting in your YAML. If you want the robot to move to a certain pose, you should plan and execute a motion to it.
Also, consider using your_moveit_config_planning_execution.launch instead of demo.launch if you don't use the fake controllers.
Asked: 2021-04-11 23:03:32 -0600
Seen: 1,325 times
Last updated: Apr 12 '21
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I've updated the title to mention MoveIt, as it would appear that's the context in which you asked this question.