Fixing home position issue

Exercises/catkin_ws/src/gut_robot/arm_robot/launch/arm_urdf.launch

@@ -12,14 +12,19 @@
 
 	<!--spawn
 	a empty gazebo world-->
-	<include file="$(find gazebo_ros)/launch/empty_world.launch" />
+	<include file="$(find gazebo_ros)/launch/empty_world.launch" >
+		<arg name="world_name" value="$(find arm_robot)/worlds/empty.world" />
+		<arg name="paused" value="true" />
+		<arg name="use_sim_time" value="true" />
+	</include>
 	<node name="tf_footprint_base" pkg="tf" type="static_transform_publisher"
 		args="0 0 0 0 0 0 base_link base_footprint 40" />
 
 	<!--spawn
 	model-->
 	<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
-		args="-x $(arg arg_x) -y $(arg arg_y) -z $(arg arg_z) -Y $(arg arg_Y) -param robot_description -urdf -model arm_robot -J joint1 0.0 -J joint2 0.0 -J joint3 0.0 -J joint4 0.0 -J joint5 0.0 -J joint6 0.0" />
+		args="-x $(arg arg_x) -y $(arg arg_y) -z $(arg arg_z) -Y $(arg arg_Y) -param robot_description -urdf -model arm_robot
+		 -J joint1 0.0 -J joint2 0.0 -J joint3 0.73 -J joint4 1.07 -J joint5 0.0 -J joint6 0.0 -unpause" />
 
 	<!--Load
 	and launch the joint trajectory controller-->