ros-controls
diff --git a/‎.gitignore
Lines changed: 0 additions & 3 deletions b/‎.gitignore
Lines changed: 0 additions & 3 deletions
diff --git a/‎pid_controller/src/pid_controller.cpp
Lines changed: 2 additions & 2 deletions b/‎pid_controller/src/pid_controller.cpp
Lines changed: 2 additions & 2 deletions
@@ -510,8 +510,8 @@ controller_interface::return_type PidController::update_and_write_commands(
         if (reference_interfaces_.size() == 2 * dof_ && measured_state_values_.size() == 2 * dof_)
         {
           if (
-            !std::isnan(reference_interfaces_[dof_ + i]) &&
-            !std::isnan(measured_state_values_[dof_ + i]))
+            std::isfinite(reference_interfaces_[dof_ + i]) &&
+            std::isfinite(measured_state_values_[dof_ + i]))
           {
             tmp_command = reference_interfaces_[dof_ + i] *
                           params_.gains.dof_names_map[params_.dof_names[i]].feedforward_gain;
Original file line number	Diff line number	Diff line change
`@@ -510,8 +510,8 @@ controller_interface::return_type PidController::update_and_write_commands(`
`510`	`510`	`if (reference_interfaces_.size() == 2 * dof_ && measured_state_values_.size() == 2 * dof_)`
`511`	`511`	`{`
`512`	`512`	`if (`
`513`		`- !std::isnan(reference_interfaces_[dof_ + i]) &&`
`514`		`- !std::isnan(measured_state_values_[dof_ + i]))`
	`513`	`+ std::isfinite(reference_interfaces_[dof_ + i]) &&`
	`514`	`+ std::isfinite(measured_state_values_[dof_ + i]))`
`515`	`515`	`{`
`516`	`516`	`tmp_command = reference_interfaces_[dof_ + i] *`
`517`	`517`	`params_.gains.dof_names_map[params_.dof_names[i]].feedforward_gain;`