Robot position doesn't update with 'initial_value' until Isaac Sim launches

[DaniGarciaLopez]

Hi,

I'm setting the initial_value of one joint in the ros2_control xacro of my robot as follows:

<state_interface name="position">
    <param name="initial_value">0.5</param> 
</state_interface>

I can verify that the initial_value is correctly received by the plugin, added to joint_commands_, and published to /isaac_joint_commands. However, the plugin keeps publishing the changes to /isaac_joint_commands. There are no messages published in /isaac_joint_states, and the robot in Rviz doesn't update. I need to launch Isaac Sim to correctly see the robot updating its position with the initial_value I have set.

I assume this is not the intended behavior, correct? The robot should update its position when Moveit launches. It doesn't make sense to me to have to wait until Isaac Sim launches, as I could simply set the initial position inside Isaac. Could this be an issue?

Thanks!