Fixed velocity controller #450
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Signed-off-by: Alejandro Hernández Cordero <[email protected]>
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@azeey do you know why the this is not happening with position and effort |
azeey
reviewed
Jan 6, 2025
gz_ros2_control/src/gz_system.cpp
Outdated
| @@ -654,7 +654,7 @@ hardware_interface::return_type GazeboSimSystem::write( | |||
| { | |||
| this->dataPtr->ecm->CreateComponent( | |||
| this->dataPtr->joints_[i].sim_joint, | |||
| sim::components::JointVelocityCmd({0})); | |||
| sim::components::JointVelocityCmd({this->dataPtr->joints_[i].joint_velocity_cmd})); | |||
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This can be simplified by using the SetComponentData function, so it would just look like:
this->dataPtr->ecm->SetComponentData(this->dataPtr->joints_[i].sim_joint, {this->dataPtr->joints_[i].sim_joint})replacing the entire if/else block starting with if (!this->dataPtr->ecm->Component<sim::components::JointVelocityCmd>( this->dataPtr->joints_[i].sim_joint))
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
azeey
approved these changes
Jan 7, 2025
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Just testing a PR I noticed that velocity controllers were not working. I made this quick fix but I'm not sure if this will break other users
@christophfroehlich any thoughts?