From 53fb6798baceec6fa92ef49d5a14b9d0a818737e Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 4 Nov 2021 20:38:45 -0300
Subject: [PATCH] Fix bug while reading gravity parameters.

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

diff --git a/src/pid_plus_gravity_controller.cpp b/src/pid_plus_gravity_controller.cpp
index 172af9c..1d78c0a 100644
--- a/src/pid_plus_gravity_controller.cpp
+++ b/src/pid_plus_gravity_controller.cpp
@@ -121,7 +121,7 @@ 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>();
 
 			chainParam_=std::make_unique<KDL::ChainDynParam>(chain_,g);
 
-- 
2.12.0