Allow to set initial joint pose in SDF

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Original report (archived issue) by Anonymous.

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Refering to http://answers.gazebosim.org/question/5062/robot-initial-configuration/, it is important that one can specify the initial position for each SDF .

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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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Is this similar to #207?

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Original comment by Andreas Bihlmaier (Bitbucket: andreasBihlmaier).

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I think #207 is about control of joints.

My proposal is to have a "" tag within that allows to spawn the model with this joint setting as initial value. Setting to a value != 0 would already alter the way the model is shown when adding it to a world, i.e. before it is registered to physics and before its plugin code is run. In other words the tag should in this regard behave exactly the same as if the joint's origin where shifted to the initial value.

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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At the minimum, we need the joint to be spawned within the joint limits so to avoid violent corrections on startup.

A pass through the robot after spawning (in Init) to set joint positions could do it. But we also need to check for invalid configurations in case the robot kinematics is not a tree.

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Original comment by Antonio El Khoury (Bitbucket: aelkhour).

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Is there currently any bypass that would allow setting an initial robot pose without modifying gazebo_ros_control::DefaultRobotHWSim or writing a robot-specific plugin?

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Original comment by Andreas Bihlmaier (Bitbucket: andreasBihlmaier).

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To my knowledge there still isn't.

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "any"

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed version from "any" to "all"