Fix diffbot position integration (#350) (#352)

(cherry picked from commit 43c9e9e) Co-authored-by: Mike Emery <emerym@canva.com>
ros-controls · Aug 20, 2023 · 546eb21 · 546eb21
1 parent 90b9e9f
commit 546eb21
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/example_2/hardware/diffbot_system.cpp b/example_2/hardware/diffbot_system.cpp
@@ -180,7 +180,7 @@ hardware_interface::return_type DiffBotSystemHardware::read(
     // Simulate DiffBot wheels's movement as a first-order system
     // Update the joint status: this is a revolute joint without any limit.
     // Simply integrates
-    hw_positions_[i] = hw_positions_[1] + period.seconds() * hw_velocities_[i];
+    hw_positions_[i] = hw_positions_[i] + period.seconds() * hw_velocities_[i];
 
     RCLCPP_INFO(
       rclcpp::get_logger("DiffBotSystemHardware"),