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Port motion_control_handle to Jazzy #214

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Oct 22, 2024
Merged

Port motion_control_handle to Jazzy #214

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4 changes: 4 additions & 0 deletions cartesian_controller_handles/src/motion_control_handle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,11 @@ MotionControlHandle::on_configure(const rclcpp_lifecycle::State & previous_state
urdf::Model robot_model;
KDL::Tree robot_tree;

#if defined CARTESIAN_CONTROLLERS_JAZZY
std::string robot_description = this->get_robot_description();
#else
std::string robot_description = get_node()->get_parameter("robot_description").as_string();
#endif
if (robot_description.empty())
{
RCLCPP_ERROR(get_node()->get_logger(), "robot_description is empty");
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