set_hold_position on success

christophfroehlich · christophfroehlich · commit 7e1bf7f9a348 · 2023-05-11T17:38:28.000Z
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -345,6 +345,7 @@ controller_interface::return_type JointTrajectoryController::update(
         {
           if (!outside_goal_tolerance)
           {
+            set_hold_position();
             auto res = std::make_shared<FollowJTrajAction::Result>();
             res->set__error_code(FollowJTrajAction::Result::SUCCESSFUL);
             active_goal->setSucceeded(res);

Original file line number	Diff line number	Diff line change
`@@ -345,6 +345,7 @@ controller_interface::return_type JointTrajectoryController::update(`
`345`	`345`	`{`
`346`	`346`	`if (!outside_goal_tolerance)`
`347`	`347`	`{`
	`348`	`+ set_hold_position();`
`348`	`349`	`auto res = std::make_shared<FollowJTrajAction::Result>();`
`349`	`350`	`res->set__error_code(FollowJTrajAction::Result::SUCCESSFUL);`
`350`	`351`	`active_goal->setSucceeded(res);`