[BUG]: MoveIt2-Gazebo integration doesn't work out-of-the-box

[evan-palmer]

Issue Description

The existing Gazebo integration spawns the arm inside the ground place. While this would be fine if the initial positions were applied, the model is currently stuck in the ground and doesn't respond to commands because of this.

Steps to Reproduce

Launch the Gazebo environment using the following command:

ros2 launch alpha_bringup alpha.launch.py use_sim:=true

Any controller can be used with this.

Expected Behavior

The arm should be sitting in the desired initial position and responding to commands.

Error Message

No response

Runtime Environment

This is observed in the NVIDIA devcontainer.

Additional Context

The issue that I raised regarding the initial positions is here. Once I finish my experiments in the next couple of week, I may start looking into a fix over there.

[evan-palmer]

I added a base platform to raise the arm up a little bit to overcome the problem of being spawned into the ground. However, I do still observe an issue with MoveIt2 and gz_ros2_control working.