From bbad40b4ca5a7535b785deb7c48d81c23dd7ed4d Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 9 Nov 2021 00:46:04 -0300
Subject: [PATCH] Fix bug while reading gravity parameters.

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

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);
 		
-- 
2.12.0