Set right initial velocity (#81)

Signed-off-by: ahcorde <[email protected]> Signed-off-by: ahcorde <[email protected]>
ros-controls · Aug 19, 2022 · 5056d40 · 5056d40
1 parent d0b7d86
commit 5056d40
Showing 1 changed file with 1 addition and 7 deletions.
diff --git a/ign_ros2_control/src/ign_system.cpp b/ign_ros2_control/src/ign_system.cpp
@@ -282,16 +282,10 @@ bool IgnitionSystem::initSim(
       }
       // independently of existence of command interface set initial value if defined
       if (!std::isnan(initial_position)) {
-        const auto * jointPositions =
-          this->dataPtr->ecm->Component<ignition::gazebo::components::JointPosition>(
-          this->dataPtr->joints_[j].sim_joint);
         this->dataPtr->joints_[j].joint_position = initial_position;
       }
       if (!std::isnan(initial_velocity)) {
-        const auto * jointVelocity =
-          this->dataPtr->ecm->Component<ignition::gazebo::components::JointVelocity>(
-          this->dataPtr->joints_[j].sim_joint);
-        this->dataPtr->joints_[j].joint_velocity = jointVelocity->Data()[0];
+        this->dataPtr->joints_[j].joint_velocity = initial_velocity;
       }
     }
   }