[bugfix] Fixed bug for fixed-based robots

cmastalli · Apr 3, 2024 · 02bcd9a · 02bcd9a
1 parent 6582b37
commit 02bcd9a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/include/crocoddyl_msgs/whole_body_trajectory_publisher.h b/include/crocoddyl_msgs/whole_body_trajectory_publisher.h
@@ -253,7 +253,7 @@ class WholeBodyTrajectoryRosPublisher {
 
       // Initialize the vectors and dimensions
       const std::size_t root_joint_id = getRootJointId(model_);
-      const std::size_t nv_root = model_.joints[root_joint_id].nv();
+      const std::size_t nv_root = getRootDim(model_);
       qfull_ = Eigen::VectorXd::Zero(model_.nq);
       vfull_ = Eigen::VectorXd::Zero(model_.nv);
       ufull_ = Eigen::VectorXd::Zero(model_.nv - nv_root);