From 5814b1483fb9bb51ce968da064c39b408641b5ce Mon Sep 17 00:00:00 2001
From: Graziato Davide <85335579+Fixit-Davide@users.noreply.github.com>
Date: Fri, 15 Mar 2024 15:38:50 +0100
Subject: [PATCH] Fix #247 (#248)

(cherry picked from commit 94745e6f5f051214ac9862051f9a918685f2c6b9)
---
 ign_ros2_control/src/ign_system.cpp | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/ign_ros2_control/src/ign_system.cpp b/ign_ros2_control/src/ign_system.cpp
index b949ca0a..6f8c8f65 100644
--- a/ign_ros2_control/src/ign_system.cpp
+++ b/ign_ros2_control/src/ign_system.cpp
@@ -181,15 +181,14 @@ bool IgnitionSystem::initSim(
   this->dataPtr->joints_.resize(this->dataPtr->n_dof_);
 
   constexpr double default_gain = 0.1;
-  if (!this->nh_->get_parameter_or(
-      "position_proportional_gain",
-      this->dataPtr->position_proportional_gain_, default_gain))
-  {
-    RCLCPP_WARN_STREAM(
-      this->nh_->get_logger(),
-      "The position_proportional_gain parameter was not defined, defaulting to: " <<
-        default_gain);
-  }
+
+  this->dataPtr->position_proportional_gain_ = this->nh_->declare_parameter<double>(
+    "position_proportional_gain", default_gain);
+
+  RCLCPP_INFO_STREAM(
+    this->nh_->get_logger(),
+    "The position_proportional_gain has been set to: " <<
+      this->dataPtr->position_proportional_gain_);
 
   if (this->dataPtr->n_dof_ == 0) {
     RCLCPP_ERROR_STREAM(this->nh_->get_logger(), "There is no joint available");