Fix call to set_value().

diff --git a/src/dynamics_linearizing_controller.cpp b/src/dynamics_linearizing_controller.cpp
index 8066cf1..b98c117 100644 (file)
--- a/src/dynamics_linearizing_controller.cpp
+++ b/src/dynamics_linearizing_controller.cpp
@@ -213,7 +213,7 @@ namespace effort_controllers
        CallbackReturn DynamicsLinearizingController::on_deactivate(const rclcpp_lifecycle::State &/*previous_state*/)
        {
                for(unsigned int i=0;i < joints_.size();i++)
        CallbackReturn DynamicsLinearizingController::on_deactivate(const rclcpp_lifecycle::State &/*previous_state*/)
        {
                for(unsigned int i=0;i < joints_.size();i++)

-                       if(!command_interfaces_[i].set_value(0))
+                       if(!command_interfaces_[i].set_value(0.0))

                                RCLCPP_WARN(get_node()->get_logger(),"Failed to set value to command interface.");
 
                return CallbackReturn::SUCCESS;
                                RCLCPP_WARN(get_node()->get_logger(),"Failed to set value to command interface.");
 
                return CallbackReturn::SUCCESS;

diff --git a/src/twist_mrac_linearizing_controller.cpp b/src/twist_mrac_linearizing_controller.cpp
index 7c91cb6..023e4ca 100644 (file)
--- a/src/twist_mrac_linearizing_controller.cpp
+++ b/src/twist_mrac_linearizing_controller.cpp
@@ -255,7 +255,7 @@ namespace effort_controllers
        CallbackReturn TwistMracLinearizingController::on_deactivate(const rclcpp_lifecycle::State &/*previous_state*/)
        {
                for(unsigned int i=0;i < joints_.size();i++)
        CallbackReturn TwistMracLinearizingController::on_deactivate(const rclcpp_lifecycle::State &/*previous_state*/)
        {
                for(unsigned int i=0;i < joints_.size();i++)

-                       if(!command_interfaces_[i].set_value(0))
+                       if(!command_interfaces_[i].set_value(0.0))

                                RCLCPP_WARN(get_node()->get_logger(),"Failed to set value to command interface.");
 
                return CallbackReturn::SUCCESS;
                                RCLCPP_WARN(get_node()->get_logger(),"Failed to set value to command interface.");
 
                return CallbackReturn::SUCCESS;