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Fix sagging robots in position control #213

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merged 1 commit into from Jun 23, 2023
Merged

Fix sagging robots in position control #213

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1 change: 1 addition & 0 deletions gazebo_ros2_control/src/gazebo_system.cpp
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Expand Up @@ -603,6 +603,7 @@ hardware_interface::return_type GazeboSystem::write(
if (this->dataPtr->sim_joints_[j]) {
if (this->dataPtr->joint_control_methods_[j] & POSITION) {
this->dataPtr->sim_joints_[j]->SetPosition(0, this->dataPtr->joint_position_cmd_[j], true);
this->dataPtr->sim_joints_[j]->SetVelocity(0, 0.0);
} else if (this->dataPtr->joint_control_methods_[j] & VELOCITY) { // NOLINT
this->dataPtr->sim_joints_[j]->SetVelocity(0, this->dataPtr->joint_velocity_cmd_[j]);
} else if (this->dataPtr->joint_control_methods_[j] & EFFORT) { // NOLINT
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