Fix bug in context of tree and chain.

diff --git a/include/pid_plus_gravity_controller/pid_plus_gravity_controller.h b/include/pid_plus_gravity_controller/pid_plus_gravity_controller.h
index ff68c3a..a7bac23 100644 (file)
--- a/include/pid_plus_gravity_controller/pid_plus_gravity_controller.h
+++ b/include/pid_plus_gravity_controller/pid_plus_gravity_controller.h
@@ -1,7 +1,7 @@
 /******************************************************************************
                    ROS pid_plus_gravity_controller Package
                         PID+Gravity Compensation Controller
-          Copyright (C) 2017 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2017,2018 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -50,7 +50,9 @@ namespace effort_controllers
                std::vector<hardware_interface::JointHandle> joints_;
 
                ros::Subscriber sub_command_;
-                       
+
+               KDL::Tree tree;
+               KDL::Chain chain;
                KDL::ChainDynParam *chainParam_;
                                
                KDL::JntArray q_;

diff --git a/src/pid_plus_gravity_controller.cpp b/src/pid_plus_gravity_controller.cpp
index 1d4118c..d522e2e 100644 (file)
--- a/src/pid_plus_gravity_controller.cpp
+++ b/src/pid_plus_gravity_controller.cpp
@@ -80,7 +80,6 @@ namespace effort_controllers
                        return false;
                }
                
-               KDL::Tree tree;
                if (!kdl_parser::treeFromString(robot_desc_string,tree))
                {
                        ROS_ERROR("Failed to construct KDL tree.");
@@ -101,7 +100,6 @@ namespace effort_controllers
                        return false;
                }
                
-               KDL::Chain chain;
                if (!tree.getChain(chainRoot,chainTip,chain)) 
                {
                        ROS_ERROR("Failed to get chain from KDL tree.");