Fixed velocity example

Signed-off-by: ahcorde <[email protected]>

Author: ahcorde

gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp

@@ -83,9 +83,6 @@ class GazeboSystem : public GazeboSystemInterface
   /// \brief last time the write method was called.
   rclcpp::Time last_update_sim_time_ros_;
 
-  /// \brief it is ODE physics engine?
-  bool usingODE;
-
   /// \brief vector with the joint's names.
   std::vector<std::string> joint_names_;
 

gazebo_ros2_control/src/gazebo_system.cpp

@@ -58,9 +58,6 @@ bool GazeboSystem::initSim(
     return false;
   }
 
-  // special handing since ODE uses a different set/get interface then the other engines
-  usingODE = (physics_type_.compare("ode") == 0);
-
   for (unsigned int j = 0; j < this->n_dof_; j++) {
     //
     // Perform some validation on the URDF joint and actuator spec
@@ -352,11 +349,7 @@ hardware_interface::return_type GazeboSystem::write()
         }
         break;
       case VELOCITY:
-        if (usingODE) {
-          sim_joints_[j]->SetParam("vel", 0, e_stop_active_ ? 0 : joint_velocity_cmd_[j]);
-        } else {
-          sim_joints_[j]->SetVelocity(0, e_stop_active_ ? 0 : joint_velocity_cmd_[j]);
-        }
+        sim_joints_[j]->SetVelocity(0, e_stop_active_ ? 0 : joint_velocity_cmd_[j]);
         break;
       case VELOCITY_PID:
         double error;

gazebo_ros2_control_demos/examples/example_velocity.cpp

@@ -28,7 +28,7 @@ int main(int argc, char * argv[])
 
   node = std::make_shared<rclcpp::Node>("velocity_test_node");
 
-  auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>("/commands", 10);
+  auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>("/cart_pole_controller/commands", 10);
 
   RCLCPP_INFO(node->get_logger(), "node created");