Don't set state_desired in on_activate

christophfroehlich · christophfroehlich · commit 5a111e35b719 · 2023-11-15T17:13:29.000Z
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -959,14 +959,12 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
   if (read_state_from_command_interfaces(state))
   {
     state_current_ = state;
-    state_desired_ = state;
     last_commanded_state_ = state;
   }
   else
   {
     // Initialize current state storage from hardware
     read_state_from_state_interfaces(state_current_);
-    read_state_from_state_interfaces(state_desired_);
     read_state_from_state_interfaces(last_commanded_state_);
   }
 

Original file line number	Diff line number	Diff line change
`@@ -959,14 +959,12 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(`
`959`	`959`	`if (read_state_from_command_interfaces(state))`
`960`	`960`	`{`
`961`	`961`	`state_current_ = state;`
`962`		`- state_desired_ = state;`
`963`	`962`	`last_commanded_state_ = state;`
`964`	`963`	`}`
`965`	`964`	`else`
`966`	`965`	`{`
`967`	`966`	`// Initialize current state storage from hardware`
`968`	`967`	`read_state_from_state_interfaces(state_current_);`
`969`		`- read_state_from_state_interfaces(state_desired_);`
`970`	`968`	`read_state_from_state_interfaces(last_commanded_state_);`
`971`	`969`	`}`
`972`	`970`