From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 12 Dec 2018 13:57:08 +0000 (-0200)
Subject: Fix bug in context of tree and chain.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=8cdb4cea4d4426b5d2fc1d2bbcf480f268eda281;p=pid_plus_gravity_controller.git

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
--- 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
--- 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.");