Fix initial_value not working (backport #241)
#243
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(cherry picked from commit c5b0b90) # Conflicts: # ign_ros2_control/src/ign_system.cpp
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
bmrocamora
reviewed
Feb 27, 2024
ign_ros2_control/src/ign_system.cpp
Outdated
| @@ -376,9 +378,15 @@ bool IgnitionSystem::initSim( | |||
| // independently of existence of command interface set initial value if defined | |||
| if (!std::isnan(initial_position)) { | |||
| this->dataPtr->joints_[j].joint_position = initial_position; | |||
| this->dataPtr->ecm->CreateComponent( | |||
| this->dataPtr->joints_[j].sim_joint, | |||
| sim::components::JointPositionReset({initial_position})); | |||
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It should be ignition::gazebo::components::JointPositionReset({initial_position}));, right?
bmrocamora
reviewed
Feb 27, 2024
ign_ros2_control/src/ign_system.cpp
Outdated
| } | ||
| if (!std::isnan(initial_velocity)) { | ||
| this->dataPtr->joints_[j].joint_velocity = initial_velocity; | ||
| this->dataPtr->ecm->CreateComponent( | ||
| this->dataPtr->joints_[j].sim_joint, | ||
| sim::components::JointVelocityReset({initial_velocity})); |
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And ignition::gazebo::components::JointVelocityReset({initial_velocity})); here
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ahcorde
approved these changes
Feb 27, 2024
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This is an automatic backport of pull request #241 done by Mergify.
Cherry-pick of c5b0b90 has failed:
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