Closed ravijo closed 1 month ago
@ravijo I'm dealing with the same problem. If you were able to find a solution I'd appreciate some help. Also @fmauch do you have any ideas as to why the flag isn't working?
+1, facing the same issue
the same issue
Hey @ravijo,
sorry for the late answer, but contrary to what the documentation states, it is not possible to specify the initial_positions
as launch argument for ur_control.launch.py
. It apparently was a legacy missing feature, so thanks for spotting it, we will soon update the documentation.
The way in which you can change them is to go in the config folder of the description package and change the values in initial_positions.yaml
.
Instead, regarding mock_hardware: for Humble the argument is use_fake_hardware
instead of use_mock_hardware
. I tested it and it seems to work.
Since there are no follow ups and the issue is solved, I will close it. Feel free to re-open if still relevant.
I am using
ur_robot_driver
on ROS Humble (Ubuntu 22.04.3 LTS). Based on the documentation, theinitial_positions
can be used to set the initial joint values for the UR arm. But it seems to be having no effect.Objective
I am trying to generate arm trajectory in simulation (i.e., no real robot) using MoveIt APIs with the UR arm.
Steps
use_fake_hardware
, I was able to get rid of the above errors.Finally, based on the documentation, I tried setting the
initial_positions
but no sucess. Below is my launch file:Issues
initial_positions
seems to be having no effect.