Fix bug while reading gravity parameters.

diff --git a/src/computed_torque_controller.cpp b/src/computed_torque_controller.cpp
index f4a8ee5..f3ab4ea 100644 (file)
--- a/src/computed_torque_controller.cpp
+++ b/src/computed_torque_controller.cpp
@@ -109,7 +109,7 @@ 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>();
 
                        idsolver_=std::make_unique<KDL::ChainIdSolver_RNE>(chain_,g);