Default joint position for simulated robot

[ros-controls]

Default joint position for simulated robot

[destogl]

It is working already as it is! I cannot approve the PR in the github workflow unless I'm assigned as a reviewer by a maintainer I guess.

you can always review/approve review. It will just not be green as if a maintainer does it. Nevertheless, it is valuable input fro maintainers knowing that somebody else tested the code and is happy with it 😄

[destogl]

@christophfroehlich can you please test #110 if it fixes your issue?

[christophfroehlich]

@destogl yes, thanks!
I already implemented something similar like you did last week, but realized that my version sets the initial values at the first simulation step, not before it. (I added a command in the ::write method and not within the ::registerJoints method like you did.)
For my robot this makes a difference, because with the chosen coordinate system it has a self collision with all joint positions being zero. By setting them to an "initial value" at the first simulation iteration, the robot crashes obviously.

[destogl]

@christophfroehlich can you please comment for required changes on #110 or approve PR there?

[christophfroehlich]

It is working already as it is! I cannot approve the PR in the github workflow unless I'm assigned as a reviewer by a maintainer I guess.