From 632620101e89cedc4c277c9c0a893af14300ab7c Mon Sep 17 00:00:00 2001
From: Nick Lamprianidis <nlamprian@gmail.com>
Date: Thu, 6 Aug 2020 12:55:10 +0200
Subject: [PATCH] Use SetParam for effort limit

---
 src/mimic_joint_plugin.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/mimic_joint_plugin.cpp b/src/mimic_joint_plugin.cpp
index ca53e2f..7c06232 100644
--- a/src/mimic_joint_plugin.cpp
+++ b/src/mimic_joint_plugin.cpp
@@ -132,7 +132,7 @@ namespace gazebo {
         // Set max effort
         if (!has_pid_) {
 #if GAZEBO_MAJOR_VERSION > 2
-            mimic_joint_->SetEffortLimit(0, max_effort_);
+            mimic_joint_->SetParam("fmax", 0, max_effort_);
 #else
             mimic_joint_->SetMaxForce(0, max_effort_);
 #endif
-- 
2.12.0