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In order to test my motion planning, I wish to test from various starting positions in gazebo. In order to do that, I need to be able to programmatically set the joint values. How can this be done?
The closest thing I found is the service /gazebo/set_link_state but that requires manually specifying the transform of each individual link which seems unintuitive. Is there a better way?
For some reason, /gazebo/set_model_configuration (as mentioned in this answer didn't work.)
However, I did discover the that gazebo_ros spawn_model supports specifying initial joint position. However, it must be done while physics is paused.
Here's the required snippets of the launch file
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="true"/>
<arg name="gui" value="$(arg gui)"/>
</include>
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -unpause -param robot_description -model robot -z 0.0 -J elbow_joint -1.57" respawn="false" output="screen" />
Asked: 2020-05-15 06:03:22 -0600
Seen: 825 times
Last updated: Sep 02 '20
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See whether the approach taken in #q352226 works for you.
This won't work if you really depend on the state of the Gazebo simulation though. Or at least it may not work as well.