tried to add default pose

ur5_moveit_config/config/fake_controllers.yaml

@@ -9,4 +9,4 @@ controller_list:
       - wrist_3_joint
 initial:  # Define initial robot poses.
   - group: manipulator
-    pose: home
+    pose: default_pose

ur5_moveit_config/config/ur5.srdf

@@ -29,6 +29,17 @@
         <joint name="wrist_2_joint" value="0" />
         <joint name="wrist_3_joint" value="0" />
     </group_state>
+
+    <group_state name="default_pose" group="manipulator">
+        <joint name="elbow_joint" value="0" />
+        <joint name="shoulder_lift_joint" value="-1.5708" />
+        <joint name="shoulder_pan_joint" value="-1.5708" />
+        <joint name="wrist_1_joint" value="-1.5708" />
+        <joint name="wrist_2_joint" value="1.5708" />
+        <joint name="wrist_3_joint" value="0" />
+    </group_state>
+
+
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->