From 178391dc9cc0d060a8c92d461cd6ac890820d04c Mon Sep 17 00:00:00 2001
From: Stefan Kohlbrecher <kohlbrecher@sim.tu-darmstadt.de>
Date: Tue, 31 May 2016 11:33:54 +0200
Subject: [PATCH] Add missing setForce() call (otherwise PID option doesn't do
 anything)

---
 src/mimic_joint_plugin.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/mimic_joint_plugin.cpp b/src/mimic_joint_plugin.cpp
index 0c83e7e..c5378a4 100644
--- a/src/mimic_joint_plugin.cpp
+++ b/src/mimic_joint_plugin.cpp
@@ -163,6 +163,7 @@ void MimicJointPlugin::UpdateChild()
         a = angle;
       double error = angle-a;
       double effort = gazebo::math::clamp(pid_.computeCommand(error, period), -max_effort_, max_effort_);
+      mimic_joint_->SetForce(0, effort);
     }
     else
       mimic_joint_->SetAngle(0, math::Angle(angle));
-- 
2.12.0