Allow option to initialise robot in any starting state #24
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Currently, the plugin initialising joint commands using values from the
initial_value
parameter ofstate_interface
in theros2_control
tag for each joint. This means the robot has to always start at the same configuration, which can be a problem in some cases.This PR introduces option to initialise the robot at any joint state, by initialising the commands with the first joint state value received via
joint_states_topic
(if available while controller is loading).Introduces the
<param name="use_initial_states_as_initial_commands">true</param>
tag to the plugin (defaults to false).