Fix bug while reading gravity parameters.

diff --git a/src/pid_plus_gravity_controller.cpp b/src/pid_plus_gravity_controller.cpp
index 172af9c..1d78c0a 100644 (file)
--- a/src/pid_plus_gravity_controller.cpp
+++ b/src/pid_plus_gravity_controller.cpp
@@ -121,7 +121,7 @@ namespace effort_controllers
                        KDL::Vector g;
                        g[0]=node_->get_parameter("gravity.x").get_value<double>();
                        g[1]=node_->get_parameter("gravity.y").get_value<double>();
-                       g[2]=node_->get_parameter("gravity.x").get_value<double>();
+                       g[2]=node_->get_parameter("gravity.z").get_value<double>();
 
                        chainParam_=std::make_unique<KDL::ChainDynParam>(chain_,g);