From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 9 Nov 2021 03:46:04 +0000 (-0300)
Subject: Fix bug while reading gravity parameters.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=bbad40b4ca5a7535b785deb7c48d81c23dd7ed4d;p=computed_torque_controller.git

Fix bug while reading gravity parameters.
---

diff --git a/src/computed_torque_controller.cpp b/src/computed_torque_controller.cpp
index f4a8ee5..f3ab4ea 100644
--- 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);