Bugfix variables used in trick_system (#42).

space-ros · Feb 12, 2025 · 773f7c3 · 773f7c3
1 parent 6f70dd3
commit 773f7c3
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/ros_trick/ros_src/trick_ros2_control/src/trick_system.cpp b/ros_trick/ros_src/trick_ros2_control/src/trick_system.cpp
@@ -177,19 +177,19 @@ std::vector<hardware_interface::CommandInterface> TrickSystem::export_command_in
       std::string joint_interface_name = joint_info.command_interfaces[j].name;
       if (joint_interface_name == hardware_interface::HW_IF_POSITION)
       {
-        command_variable_ptr_ = &joints_data_[i].joint_position;
+        command_variable_ptr_ = &joints_data_[i].joint_position_cmd;
       }
       if (joint_interface_name == hardware_interface::HW_IF_VELOCITY)
       {
-        command_variable_ptr_ = &joints_data_[i].joint_velocity;
+        command_variable_ptr_ = &joints_data_[i].joint_velocity_cmd;
       }
       if (joint_interface_name == hardware_interface::HW_IF_ACCELERATION)
       {
-        command_variable_ptr_ = &joints_data_[i].joint_acceleration;
+        command_variable_ptr_ = &joints_data_[i].joint_acceleration_cmd;
       }
       if (joint_interface_name == hardware_interface::HW_IF_EFFORT)
       {
-        command_variable_ptr_ = &joints_data_[i].joint_effort;
+        command_variable_ptr_ = &joints_data_[i].joint_effort_cmd;
       }
       // TODO(later) - parametrize it with joint params
       *command_variable_ptr_ = 0.0;