I am currently trying to plan and visualize a robot using MoveIt! and Rviz. Having finished the robot URDF, I started the MoveIt! setup assistant and created the MoveIt! configuration package. From what I know, a fake joint controller publishes the robot's joint states which are then visualized in Rviz. Is there any way to set the initial joint configuration of the robot, such that the robot is not placed at the center of origin ?
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