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Optional robot state initialization #61

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captain-yoshi wants to merge 1 commit into PickNikRobotics:noetic-devel from captain-yoshi:initial-state

captain-yoshi commented Mar 16, 2023

Ability to set the desired robot state upon startup :

Optional parameter
If the size of joints and initial_state does not match
- A warning is issued
- The robot state reverts to it's default behavior -> 0.0

hardware_interface:
  sim_control_mode: 0
  joints:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
  initial_state:
    - 0.0
    - 1.5707
    - 0.0
    - 1.5707
    - 0.0
    - 0.0

I can change the warning print and the ros param key to your liking.


          Optional robot state initialization

bf34094

captain-yoshi force-pushed the initial-state branch from 499ce01 to bf34094 Compare

March 16, 2023 02:28

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