Pose tag gets ignored when using urdf

[osrf-migration]

Original report (archived issue) by Anonymous.

---

When creating a sensor in an urdf using the <gazebo> tag the any <pose> tag inside the <sensor> gets ignored.

Here for example I'm trying to rotate a sensor 90° on the z-Axis. Inside the gazebo-simulation the orientation remains the same with or without the tag.

#!xml

        <gazebo reference="lidar_link">
             <sensor type="ray" name="head_hokuyo_sensor">
                 <visualize>true</visualize>
                 <update_rate>10</update_rate>
                 <pose>0 0 0 0 0 1.570796</pose>
                 <ray>
                     <scan>
                         <horizontal>
                             <samples>100</samples>
                             <resolution>1</resolution>
                             <min_angle>-1.570796</min_angle>
                             <max_angle>1.570796</max_angle>
                         </horizontal>
                     </scan>
                     <range>
                         <min>0.10</min>
                         <max>30.0</max>
                         <resolution>0.01</resolution>
                     </range>
                     <noise>
                         <type>gaussian</type>
                         <mean>0.0</mean>
                         <stddev>0.01</stddev>
                     </noise>
                 </ray>
                 <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_
    laser.so">
                     <topicName>scan</topicName>
                     <frameName>lidar</frameName>
                 </plugin>
             </sensor>
          </gazebo>

[osrf-migration]

Original comment by Nick Lamprianidis (Bitbucket: lamprianidis).

---

This is a problem also for me