From 9cf86b220075c158da05889f7db72677450c7ab4 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 12 Dec 2018 14:39:00 -0200
Subject: [PATCH] Fix bug in rate_limiter-impl.h.

Revert initial posiiton from home position to zero position due to problems
in Gazebo initialization.
---
 wam_description/launch/gazebo.launch                         | 2 +-
 wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/wam_description/launch/gazebo.launch b/wam_description/launch/gazebo.launch
index a0edcd2..de023ac 100644
--- a/wam_description/launch/gazebo.launch
+++ b/wam_description/launch/gazebo.launch
@@ -17,5 +17,5 @@
 		<arg name="bhand" value="$(arg bhand)" />
 	</include>
 
-	<node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam -J wam_joint_2 -2.0 -J wam_joint_4 3.1" respawn="false" output="screen" />
+	<node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
 </launch>
diff --git a/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h b/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h
index 70bc8d4..37e0c23 100644
--- a/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h
+++ b/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h
@@ -69,7 +69,7 @@ template<typename T>
 T &RateLimiter<T>::getLimit(const T &x)
 {
 	delta = x-data;
-	for(int i;i < x.rows();i++)
+	for(int i=0;i < x.rows();i++)
 		if(limit[i] == 0.0) data[i]=x[i];
 		else data[i] += sgn(delta[i])*std::min(fabs(delta[i]),maxDelta[i]);
 
-- 
2.12.0