Set joint_states_ to initial_value as well

PickNikRobotics · Oct 8, 2024 · a6486ff · a6486ff
1 parent 1205b10
commit a6486ff
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Showing 2 changed files with 1 addition and 1 deletion.
diff --git a/src/topic_based_system.cpp b/src/topic_based_system.cpp
@@ -91,6 +91,7 @@ CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo&
         // Check the initial_value param is used
         if (!interface.initial_value.empty())
         {
+          joint_states_[index][i] = std::stod(interface.initial_value);
           joint_commands_[index][i] = std::stod(interface.initial_value);
         }
       }

diff --git a/test/ros2_control.test.py b/test/ros2_control.test.py
@@ -14,7 +14,6 @@
 from launch.substitutions import (
     LaunchConfiguration,
     PathJoinSubstitution,
-    ThisLaunchFileDir,
 )
 from launch_ros.actions import Node