don't overwrite initial slip values

ros-simulation · Apr 9, 2020 · 3cf9f5e · 3cf9f5e
1 parent 0d1ed9c
commit 3cf9f5e
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/gazebo_plugins/src/gazebo_ros_wheel_slip.cpp b/gazebo_plugins/src/gazebo_ros_wheel_slip.cpp
@@ -46,8 +46,14 @@ GazeboRosWheelSlip::~GazeboRosWheelSlip()
 
 /////////////////////////////////////////////////
 void GazeboRosWheelSlip::configCallback(
-  gazebo_plugins::WheelSlipConfig &config, uint32_t /*level*/)
+  gazebo_plugins::WheelSlipConfig &config, uint32_t level)
 {
+  if (level == ~0)
+  {
+    // don't overwrite initial parameters
+    return;
+  }
+
   ROS_INFO_NAMED("wheel_slip", "Reconfigure request for the gazebo ros wheel_slip: %s. New slip compliances, lateral: %.3e, longitudinal: %.3e",
            this->GetParentModel()->GetScopedName().c_str(),
            config.slip_compliance_unitless_lateral,