[ros-users] Gazebo model joint start pose?

[Andy Somerville]

Sorry about the slow reply. I got sidetracked. I'll take a look and
report back when I get back to that task. Thanks.

    Andy

On Fri, Jan 28, 2011 at 8:04 PM, John Hsu <johnhsu at willowgarage.com> wrote:
> Hi Andy,
> Please take a look at gazebo ROS API and check under diamondback, there is a
> service call:
> gazebo/set_model_configuration
> service which might be what you're looking for?
> John
>
> On Fri, Jan 28, 2011 at 12:31 PM, Andy Somerville
> <andy.somerville at resquared.com> wrote:
>>
>> Hi all,
>>
>>
>> I'm trying to start up my robot model in Gazebo with a certain start
>> pose for all of the joints. Changing the pose in the URDF changes the
>> reference frame of the joints which is counter to what I want to do.
>>
>> Is there a (preferred/correct) way to pose the joints without either
>> changing their reference frames or, applying wrenches to them and
>> moving them into place?
>>
>> My only thought was to perhaps try set_link_state, but it doesn't
>> really make sense as using that would require gazebo to do inverse
>> kinematics to make it work.
>>
>> Any thoughts?
>>
>>
>>     Andy
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>
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