From 824fedb4968b28d934a73c231d6e522df8ee4756 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Mon, 13 May 2024 10:20:37 +0200
Subject: [PATCH] Change initial pose of pendulum (#313)

(cherry picked from commit 40ee42da16af9f1bc78886dbaec8082fd3fdea26)
---
 gazebo_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf  | 2 +-
 .../urdf/test_pendulum_position.xacro.urdf                      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gazebo_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf b/gazebo_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf
index bd3c18ff..ec865c8e 100644
--- a/gazebo_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf
+++ b/gazebo_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf
@@ -68,7 +68,7 @@
 
   <joint name="cart_to_pendulum" type="revolute">
     <axis xyz="0 1 0"/>
-    <origin xyz="0.0 0.35 0.0" rpy="0 0.1 0"/>
+    <origin xyz="0.0 0.35 0.0" rpy="0 ${pi} 0"/>
     <parent link="cart"/>
     <child link="pendulum"/>
     <limit effort="10000.0" lower="-100000" upper="100000" velocity="100000"/>
diff --git a/gazebo_ros2_control_demos/urdf/test_pendulum_position.xacro.urdf b/gazebo_ros2_control_demos/urdf/test_pendulum_position.xacro.urdf
index 185cd26b..facd388d 100644
--- a/gazebo_ros2_control_demos/urdf/test_pendulum_position.xacro.urdf
+++ b/gazebo_ros2_control_demos/urdf/test_pendulum_position.xacro.urdf
@@ -68,7 +68,7 @@
 
   <joint name="cart_to_pendulum" type="revolute">
     <axis xyz="0 1 0"/>
-    <origin xyz="0.0 0.35 0.0" rpy="0 0.1 0"/>
+    <origin xyz="0.0 0.35 0.0" rpy="0 ${pi} 0"/>
     <parent link="cart"/>
     <child link="pendulum"/>
     <limit effort="10000.0" lower="-100000" upper="100000" velocity="100000"/>