Change gazebo.launch in wam_description to make the robot start at home position.

diff --git a/wam_description/launch/gazebo.launch b/wam_description/launch/gazebo.launch
index de023ac..a0edcd2 100644 (file)
--- a/wam_description/launch/gazebo.launch
+++ b/wam_description/launch/gazebo.launch
@@ -17,5 +17,5 @@
                <arg name="bhand" value="$(arg bhand)" />
        </include>
 
-       <node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
+       <node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam -J wam_joint_2 -2.0 -J wam_joint_4 3.1" respawn="false" output="screen" />
 </launch>