From 64f752f744f3cbcca42fcf0842d7360464218444 Mon Sep 17 00:00:00 2001 From: Miguel Prada Date: Mon, 23 Apr 2018 16:38:10 +0200 Subject: [PATCH] Initialize VelocityInterface::prev_velocity_cmd_ with zeroes --- src/ros/hardware_interface.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/ros/hardware_interface.cpp b/src/ros/hardware_interface.cpp index 759eca5..11b5b5f 100644 --- a/src/ros/hardware_interface.cpp +++ b/src/ros/hardware_interface.cpp @@ -17,7 +17,6 @@ void JointInterface::update(RTShared &packet) efforts_ = packet.i_actual; } - const std::string WrenchInterface::INTERFACE_NAME = "hardware_interface::ForceTorqueSensorInterface"; WrenchInterface::WrenchInterface(std::string tcp_link) { @@ -29,11 +28,10 @@ void WrenchInterface::update(RTShared &packet) tcp_ = packet.tcp_force; } - const std::string VelocityInterface::INTERFACE_NAME = "hardware_interface::VelocityJointInterface"; VelocityInterface::VelocityInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface, std::vector &joint_names, double max_vel_change) - : commander_(commander), max_vel_change_(max_vel_change) + : commander_(commander), max_vel_change_(max_vel_change), prev_velocity_cmd_({ 0, 0, 0, 0, 0, 0 }) { for (size_t i = 0; i < 6; i++) {