Compute velocity errors when using an effort command interface

ros-controls · Jun 19, 2023 · 2e0da5d · 2e0da5d
1 parent 6c97909
commit 2e0da5d
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -133,7 +133,7 @@ controller_interface::return_type JointTrajectoryController::update(
     {
       error.positions[index] = desired.positions[index] - current.positions[index];
     }
-    if (has_velocity_state_interface_ && has_velocity_command_interface_)
+    if (has_velocity_state_interface_ && (has_velocity_command_interface_ || has_effort_command_interface_))
     {
       error.velocities[index] = desired.velocities[index] - current.velocities[index];
     }