Fix bug in rate_limiter-impl.h.

Revert initial posiiton from home position to zero position due to problems
in Gazebo initialization.

diff --git a/wam_description/launch/gazebo.launch b/wam_description/launch/gazebo.launch
index a0edcd2..de023ac 100644 (file)
--- a/wam_description/launch/gazebo.launch
+++ b/wam_description/launch/gazebo.launch
@@ -17,5 +17,5 @@
                <arg name="bhand" value="$(arg bhand)" />
        </include>
 
-       <node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam -J wam_joint_2 -2.0 -J wam_joint_4 3.1" respawn="false" output="screen" />
+       <node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
 </launch>

diff --git a/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h b/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h
index 70bc8d4..37e0c23 100644 (file)
--- a/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h
+++ b/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h
@@ -69,7 +69,7 @@ template<typename T>
 T &RateLimiter<T>::getLimit(const T &x)
 {
        delta = x-data;
-       for(int i;i < x.rows();i++)
+       for(int i=0;i < x.rows();i++)
                if(limit[i] == 0.0) data[i]=x[i];
                else data[i] += sgn(delta[i])*std::min(fabs(delta[i]),maxDelta[i]);