Placing wx200 on custom platform in Gazebo

[Illidan41k]

Hi! I want to place my wx200 on platform made in Gazebo. What exactly should i do so as to accomplish that? I tried to change cordinates, but wx200 aspires to (0;0;0) when simulation starts. As I understood, I should change base_link_frame, but change on what?

[swiz23]

One way to do this is by modifying the spawn_model node here by modifying the args parameter to include the desired spawning pose. You can see an example of how it's used here for the xArm robot. First determine in Gazebo where the tablestop surface is relative to the 'world' frame, then add a centimeter to the 'z' measurment, and spawn the WX200 robot.

See more info about the spawn_model node by running rosrun gazebo_ros spawn_model -h in your terminal.

[Illidan41k]

Thank you for response, Solomon. This is exactly what I did. I was hoping it's possible to tether base_link to smth else then 'world' so as to let the hand easily move with this object. With current solution I should recalculate new coordinates by myself. This is a bit frustrating fact :)