From 28e943f4a65800847847b054bd8cc5f13454e075 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 8 Apr 2024 16:43:40 +0000
Subject: [PATCH] Use explicit assignment

---
 gazebo_ros2_control/src/gazebo_system.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/gazebo_ros2_control/src/gazebo_system.cpp b/gazebo_ros2_control/src/gazebo_system.cpp
index bd943f79..1a573cab 100644
--- a/gazebo_ros2_control/src/gazebo_system.cpp
+++ b/gazebo_ros2_control/src/gazebo_system.cpp
@@ -536,9 +536,8 @@ GazeboSystem::perform_command_mode_switch(
 
   // mimic joint has always position control mode
   for (const auto & mimic_joint : this->info_.mimic_joints) {
-    this->dataPtr->joint_control_methods_[mimic_joint.joint_index] &=
-      static_cast<ControlMethod_>(VELOCITY & EFFORT);
-    this->dataPtr->joint_control_methods_[mimic_joint.joint_index] |= POSITION;
+    this->dataPtr->joint_control_methods_[mimic_joint.joint_index] =
+      static_cast<ControlMethod>(POSITION);
   }
   return hardware_interface::return_type::OK;
 }