Remove is_finite check (#560)

example_14/hardware/rrbot_actuator_without_feedback.cpp

@@ -217,23 +217,21 @@ hardware_interface::return_type RRBotActuatorWithoutFeedback::read(
 hardware_interface::return_type ros2_control_demo_example_14::RRBotActuatorWithoutFeedback::write(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
-  if (std::isfinite(hw_joint_command_))
-  {
-    // START: This part here is for exemplary purposes - Please do not copy to your production code
-    RCLCPP_INFO(
-      rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);
+  // START: This part here is for exemplary purposes - Please do not copy to your production code
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);
 
-    // Simulate sending commands to the hardware
-    std::ostringstream data;
-    data << hw_joint_command_;
-    RCLCPP_INFO(
-      rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
-      data.str().c_str());
-    send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
+  // Simulate sending commands to the hardware
+  std::ostringstream data;
+  data << hw_joint_command_;
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
+    data.str().c_str());
+  send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
+
+  RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
+  // END: This part here is for exemplary purposes - Please do not copy to your production code
 
-    RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
-    // END: This part here is for exemplary purposes - Please do not copy to your production code
-  }
   return hardware_interface::return_type::OK;
 }