From 5a111e35b719242ebd5b73fecc5da9c611a542d7 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 15 Nov 2023 17:13:29 +0000
Subject: [PATCH] Don't set state_desired in on_activate

---
 joint_trajectory_controller/src/joint_trajectory_controller.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 1c2c31f4d1..1ba027d5c2 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -959,14 +959,12 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
   if (read_state_from_command_interfaces(state))
   {
     state_current_ = state;
-    state_desired_ = state;
     last_commanded_state_ = state;
   }
   else
   {
     // Initialize current state storage from hardware
     read_state_from_state_interfaces(state_current_);
-    read_state_from_state_interfaces(state_desired_);
     read_state_from_state_interfaces(last_commanded_state_);
   }