From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sat, 4 May 2019 21:18:06 +0000 (-0300)
Subject: Set initial joint positions in gazebo.launch.
X-Git-Tag: sbai2019submitted~4
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=9e391c0493a9f07453cd4f1be0e82f2767565946;p=users%2Fgschmitz%2Fmiitzhand.git

Set initial joint positions in gazebo.launch.
---

diff --git a/miitzhand_bringup/launch/gazebo.launch b/miitzhand_bringup/launch/gazebo.launch
index 655ad1a..ef177f2 100644
--- a/miitzhand_bringup/launch/gazebo.launch
+++ b/miitzhand_bringup/launch/gazebo.launch
@@ -19,7 +19,9 @@
         
         <!-- Spawn the robot model -->
         <node name="miitzhand_spawner" pkg="gazebo_ros" type="spawn_model" output="screen" 
-              args="-urdf -param robot_description -model miitzhand" />
+              args="-urdf -param robot_description -model miitzhand
+		-J thum_j1 0 -J thumb_j2 -1.5708 -J index_j1 -1.5708
+		-J middle_j1 -1.5708 -J ring_j1 -1.5708 -J little_j1 -1.5708" />
       
         <!-- Controllers Settings-->
         <rosparam command="load" file="$(find miitzhand_bringup)/config/miitzhand.yaml" />