Merge pull request #96 from L-SY/fix_return

ye-luo-xi-tui · web-flow · commit 9c8058bfcd52 · 2022-12-01T23:24:36.000+08:00
Fix joint_calibration_controller
diff --git a/rm_calibration_controllers/src/joint_calibration_controller.cpp b/rm_calibration_controllers/src/joint_calibration_controller.cpp
@@ -162,7 +162,7 @@ void JointCalibrationController::update(const ros::Time& time, const ros::Durati
         ROS_INFO("Joint %s calibrated", velocity_ctrl_.getJointName().c_str());
         state_ = CALIBRATED;
         if (is_return_)
-          position_ctrl_.joint_.setCommand(target_position_);
+          position_ctrl_.setCommand(target_position_);
         else
         {
           velocity_ctrl_.joint_.setCommand(0.);

Original file line number	Diff line number	Diff line change
`@@ -162,7 +162,7 @@ void JointCalibrationController::update(const ros::Time& time, const ros::Durati`
`162`	`162`	`ROS_INFO("Joint %s calibrated", velocity_ctrl_.getJointName().c_str());`
`163`	`163`	`state_ = CALIBRATED;`
`164`	`164`	`if (is_return_)`
`165`		`- position_ctrl_.joint_.setCommand(target_position_);`
	`165`	`+ position_ctrl_.setCommand(target_position_);`
`166`	`166`	`else`
`167`	`167`	`{`
`168`	`168`	`velocity_ctrl_.joint_.setCommand(0.);`