Galactic: initial_positions.yaml has no effect on robot position presented in rviz

[lmendyk]

when following the examples, the initial robot position presented in rviz is always “flat” (all joints has 0 value set). That looks as if the initial_positions.yaml has no effect as this files defines the shoulder_lift_join and wrist_1_joint to -1,57 (which should make the robot arm “stand up”).

Am I missing something or there is a bug in the config files processing?

[fmauch]

I assume you are starting it with use_fake_hardware:=true? The initial value is not yet supported for galactic. Also see https://github.com/ros-controls/ros2_control/pull/635

[lmendyk]

Thanks for info.

The issue refers also just for viewing the robot description - from the example:

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

[fmauch]

The issue refers also just for viewing the robot description - from the example:

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

The view_ur.launch.oy file is meant for viewing the description only, which helps when your are actually changing the description. Therefore, any "starring" position doesn't necessarily make much sense.

[fmauch]

I guess, this can be closed by now.