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Fix diffbot position integration (backport #350) #352

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Aug 20, 2023
Merged

Fix diffbot position integration (backport #350) #352

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2 changes: 1 addition & 1 deletion example_2/hardware/diffbot_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"),
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