Initialize antiwindup variable properly (#326) (#328)

(cherry picked from commit 1ef9652) Co-authored-by: Christoph Fröhlich <[email protected]>
ros-controls · May 17, 2024 · 522a3a9 · 522a3a9
1 parent 64916f0
commit 522a3a9
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/gazebo_ros2_control/src/gazebo_system.cpp b/gazebo_ros2_control/src/gazebo_system.cpp
@@ -161,7 +161,7 @@ control_toolbox::Pid GazeboSystem::extractPID(
   double kd;
   double max_integral_error;
   double min_integral_error;
-  bool antiwindup;
+  bool antiwindup = false;
 
   if (joint_info.parameters.find(prefix + "kp") != joint_info.parameters.end()) {
     kp = std::stod(joint_info.parameters.at(prefix + "kp"));
@@ -199,8 +199,6 @@ control_toolbox::Pid GazeboSystem::extractPID(
     {
       antiwindup = true;
     }
-  } else {
-    antiwindup = false;
   }
 
   RCLCPP_INFO_STREAM(