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Changing robot initial pose in gazebo

asked 2013-06-05 01:47:35 -0500

ryann2k1
128 ●15 ●21 ●24

updated 2014-11-22 17:05:19 -0500

ngrennan
1 ●1 ●1

I'm trying to modify the initial pose by changing pr2.sdrf (pr2_description/robots). after rerun: roslaunch pr2_gazebo pr2_empty_world.launch, the robot pose remains the same as the original one. I have no idea where to look for make the proper changes. Any idea would be appreciated. Running on fuerte 12.04 ubuntu precise. Thanks.

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answered 2013-06-06 05:57:31 -0500

SL Remy
2022 ●26 ●49 ●67

updated 2013-06-06 06:01:03 -0500

In pr2_no_controllers.launch they make use of "optenv ROBOT_INITIAL_POSE". So, setting that env variable should change the location. Or you could modify the pose used with the spawn command in your own launch files.

Looks like a duplicate .. how-do-i-set-the-inital-pose-of-a-robot-in-gazebo

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I have a look to the that post, but when I try to execute move_arm_joint_goal, errors stating that kinematic has experienced conflict with the initial pose. Do you know what packages that I need to modify (to generate) so I can build my own? Thanks

ryann2k1 ( 2013-06-06 15:46:37 -0500 )edit

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Asked: 2013-06-05 01:47:35 -0500

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Changing robot initial pose in gazebo