From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 12 Dec 2018 04:25:01 +0000 (-0200)
Subject: Change gazebo.launch in wam_description to make the robot start at home position.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=5c5c5f7955049961334784e50fc48cbbe51c362c;p=ufrgs_wam.git

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
--- 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>