ROS2 fake environment simulation initial joint state

[DailyNir]

trafficstars

hello, using ros2 humble version and for a while now i am trying to set different joint state for initial simulation in the fake environment without success. i would like some guidance and explanations where would i find it .

my initial state is colliding with my urdf because when the joints are at (0,0,0,0,0,0) they are in a collision state which makes it impossible to continue planning in this environment.

please advise .

[vimior]

@DailyNir

There is no way to set the initial point through configuration without modifying the code to support it.

If your initial point is fixed, you can temporarily modify the configure function in xarm_controller/src/hardware/uf_robot_fake_system_hardware.cpp and set the initial value of position_cmds_ to what you want.

We will study how to support external configuration in the future.

[Shahar-AstroScale]

could not modify your code, please provide help or example, thank you