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Removed unused var #220

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merged 2 commits into from
Aug 15, 2023
Merged

Removed unused var #220

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88d2262
Removed unused var
ahcorde Aug 14, 2023
b9486e9
Merge branch 'master' into ahcorde/rolling/unused_var
ahcorde Aug 14, 2023
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14 changes: 0 additions & 14 deletions gazebo_ros2_control/src/gazebo_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,9 +100,6 @@ class gazebo_ros2_control::GazeboSystemPrivate

/// \brief mapping of mimicked joints to index of joint they mimic
std::vector<MimicJoint> mimic_joints_;

/// \brief Gain which converts position error to a velocity command
double position_proportional_gain_;
};

namespace gazebo_ros2_control
Expand All @@ -128,17 +125,6 @@ bool GazeboSystem::initSim(
return false;
}

constexpr double default_gain = 0.1;
if (!this->nh_->get_parameter_or(
"position_proportional_gain",
this->dataPtr->position_proportional_gain_, default_gain))
{
RCLCPP_WARN_STREAM(
this->nh_->get_logger(),
"The position_proportional_gain parameter was not defined, defaulting to: " <<
default_gain);
}

registerJoints(hardware_info, parent_model);
registerSensors(hardware_info, parent_model);

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