How do I set the inital pose of a robot in gazebo?

edit

You can create your own launch file to spawn the robot. For example:

<!-- spawn_robot.launch -->
<launch>
  <!-- Robot pose -->
  <arg name="x" default="0"/>
  <arg name="y" default="0"/>
  <arg name="z" default="0"/>
  <arg name="roll" default="0"/>
  <arg name="pitch" default="0"/>
  <arg name="yaw" default="0"/>

  <param name="robot_description"
         command="$(find xacro)/xacro.py $(find myrobot_description)/urdf/myrobot.urdf.xacro"/>
  <node name="spawn_robot" pkg="gazebo" type="spawn_model"
        args="-urdf -param robot_description -model myrobot
              -x $(arg x) -y $(arg y) -z $(arg z)
              -R $(arg roll) -P $(arg pitch) -Y $(arg yaw)"/>
</launch>

Then you change <include file="$(find pr2_gazebo)/launch/pr2.launch"/> to:

<include file="$(find myrobot_description)/launch/spawn_robot.launch">
  <arg name="x" value="1.0"/>
  <arg name="y" value="1.0"/>
</include>

You can also simply add this to your .bashrc file export ROBOT_INITIAL_POSE="-x 1.0 -y 2.3 -z 0.0 -R 1.43 -P 0.3444 -Y 1.0865"

Remember to source the .bashrc after.

I have the same problem: I am trying to change the default orientation of a UR10 robot in gazebo.

I described my problem in this post: https://answers.ros.org/question/4114...

Maybe someone here can help me, as this here is solved.

You can also simply substitute the call to the ROBOT_INITIAL_POSE environment variable ('optenv ROBOT_INITIAL_POSE') by the values you want your robot to spawn (-x 1 -y 1). I've created a very short video showing an example of it: https://www.youtube.com/watch?v=9ggSf...