Haven't found something directly control the pose when rviz boost up. rviz seems to use urdf default alignment without touching on move_group (so that specifying joints' angle doesn't work).
We can try publishing an pre-goal, e.g. home_pose (refer to these lines[1]).
Haven't found something directly control the pose when rviz boost up. rviz seems to use urdf default alignment without touching on move_group (so that specifying joints' angle doesn't work).
We can try publishing an pre-goal, e.g. home_pose (refer to these lines[1]).
[1] https://github.com/yijiangh/framefab_mpp/blob/6f16ff08771dfb64b286ae7689741be90ef43669/framefab_mpp/src/framefab_planner.cpp#L137-L163