How to control the initial pose of robot
I have a robot in gazebo, every time when I run it, the robot always fall down from the sky. Is there a way to control the initial pose of the robot?
The other problem is my robot is 24644 kg, really heavy. when I load the robot in gazebo, part of the wheel is under the ground. I already set the collision in my xacro file.
Does any body have an idea? Thank you
Asked by zfxw0206 on 2016-07-07 08:21:08 UTC
Answers
Reading your question, it wasn't very clear whether the robot is starting too far up, and therefore falling from the sky, or too far down, and therefore it is inside the ground. It might be a good idea to start Gazebo paused to check what's the initial pose of the robot.
How are you spawning your robot? You mentioned xacro, so I assume you're using ROS? Possibly the spawn_model script? In that case, you might want to check out this tutorial. You can specify the initial x, y, z coordinates of your model as arguments to the script, for example:
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-file $(find robot_description)/urdf/robot.urdf -urdf -x 1 -y 1 -z 10 -model robot" />
Asked by chapulina on 2016-07-07 10:22:47 UTC
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