gazebo_set_joint_position_plugin

Gazebo model plugin to set joints position on a robot (useful when replaying a rosbag for instance)

Example usage: add this piece of code in your robot's model file:

<gazebo>
    <plugin name="set_joint_position" filename="libset_joint_position_plugin.so">
        <topicName> /set_gazebo_joint_states </topicName>
    </plugin>
</gazebo>

You can set topicName to the name of the topic of the rosbag file you want to replay, or remap it as in this example:

rosbag play /allegro_kuka/joint_states:=/set_gazebo_joint_states YOURBAGFILE