Set joint_states_ to initial_value as well

JafarAbdi · JafarAbdi · commit a6486ff08634 · 2024-10-08T23:56:53.000+01:00
diff --git a/src/topic_based_system.cpp b/src/topic_based_system.cpp
@@ -91,6 +91,7 @@ CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo&
         // Check the initial_value param is used
         if (!interface.initial_value.empty())
         {
+          joint_states_[index][i] = std::stod(interface.initial_value);
           joint_commands_[index][i] = std::stod(interface.initial_value);
         }
       }
diff --git a/test/ros2_control.test.py b/test/ros2_control.test.py
@@ -14,7 +14,6 @@
 from launch.substitutions import (
     LaunchConfiguration,
     PathJoinSubstitution,
-    ThisLaunchFileDir,
 )
 from launch_ros.actions import Node
 

Original file line number	Diff line number	Diff line change
`@@ -91,6 +91,7 @@ CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo&`
`91`	`91`	`// Check the initial_value param is used`
`92`	`92`	`if (!interface.initial_value.empty())`
`93`	`93`	`{`
	`94`	`+ joint_states_[index][i] = std::stod(interface.initial_value);`
`94`	`95`	`joint_commands_[index][i] = std::stod(interface.initial_value);`
`95`	`96`	`}`
`96`	`97`	`}`
Original file line number	Diff line number	Diff line change
`@@ -14,7 +14,6 @@`
`14`	`14`	`from launch.substitutions import (`
`15`	`15`	`LaunchConfiguration,`
`16`	`16`	`PathJoinSubstitution,`
`17`		`- ThisLaunchFileDir,`
`18`	`17`	`)`
`19`	`18`	`from launch_ros.actions import Node`
`20`	`19`