Gazebo 상에서 불러오는 로봇의 초기 위치 및 자세 변경

• Gazebo 상에서 불러오는 로봇의 초기 위치 및 자세 변경
• Hello, I launched a robot into my own gazebo world and noticed it was facing the wall, so i need to turn the robot 180° when initializing.

  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"args="-param robot_description -urdf -x -0.5 -y 1 -z 0.05 -model pepper_MP" />
  

  But there is nothing said about the orientation, so i wonder what i need to add so that my robot faces the right direction when initiializedR, P, and Y stand for roll pitch and yaw. Yaw is what you want. Hence:link
• <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"args="-param robot_description -urdf -x -0.5 -y 1 -z 0.05 -Y 3.1416 -model pepper_MP" />
• usage: spawn_model [-h] (-urdf | -sdf) (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin) -model MODEL_NAME [-reference_frame REFERENCE_FRAME] [-gazebo_namespace GAZEBO_NAMESPACE] [-robot_namespace ROBOT_NAMESPACE] [-unpause] [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P] [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model] [-b]
• In my launch file i found this part here:
• https://answers.ros.org/question/363854/how-can-i-change-the-initial-orientation-of-a-robot-when-using-roslaunch/