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Initialize antiwindup variable properly (backport #326) #328

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May 17, 2024
Merged

Initialize antiwindup variable properly (backport #326) #328

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4 changes: 1 addition & 3 deletions gazebo_ros2_control/src/gazebo_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"));
Expand Down Expand Up @@ -199,8 +199,6 @@ control_toolbox::Pid GazeboSystem::extractPID(
{
antiwindup = true;
}
} else {
antiwindup = false;
}

RCLCPP_INFO_STREAM(
Expand Down