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I'm devasted. I try now for days to set a initial cfg for a robot.

I tried the following :

  1. rosservice call /gazebo/pause_physics
  2. rosservice call /gazebo/set_model_configuration '{model_name: iiwa, joint_names:['iiwa_joint_1','iiwa_joint_2','iiwa_joint_3','iiwa_joint_4','iiwa_joint_5','iiwa_joint_6','iiwa_joint_7'], joint_positions: [1.5,1.5,1.5,1.5,1.5,1.5,1.5]}'

    the robot is now in the position I asked for, but when I turn on physics again...

  3. rosservice call /gazebo/unpause_physics

the robot returns immediately to its initial position. That behaviour applies of course to a python workflow as well.

Does anybody have ideas how this can be repaired ?