From a6486ff08634f41b3c1592cb70ac9e71f8fc7ec2 Mon Sep 17 00:00:00 2001
From: JafarAbdi <jafar.uruc@gmail.com>
Date: Tue, 8 Oct 2024 23:55:05 +0100
Subject: [PATCH] Set joint_states_ to initial_value as well

---
 src/topic_based_system.cpp | 1 +
 test/ros2_control.test.py  | 1 -
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/topic_based_system.cpp b/src/topic_based_system.cpp
index ee506dd..67a9ec9 100644
--- 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
index aecb540..0769f66 100644
--- 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