From 562f61b6ba9e6430e9d837cc1decf2224569a457 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?= =?UTF-8?q?=E3=83=8D=29?= Date: Mon, 8 Apr 2024 16:24:15 +0200 Subject: [PATCH] ControlBoardDriver: fix regression after #677 --- plugins/controlboard/src/ControlBoardDriver.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/plugins/controlboard/src/ControlBoardDriver.cpp b/plugins/controlboard/src/ControlBoardDriver.cpp index 09227c1cb..50b12bbe1 100644 --- a/plugins/controlboard/src/ControlBoardDriver.cpp +++ b/plugins/controlboard/src/ControlBoardDriver.cpp @@ -388,7 +388,7 @@ bool GazeboYarpControlBoardDriver::gazebo_init() // TODO this should be done in a better way m_actuatedAxesVelLimits = m_jointVelLimits; std::vector actuated_axis_pos_limit_min; - bool vecOk = getVectorFromConf(coupling_group_bottle, actuated_axis_pos_limit_min, "actuatedAxesPosMin", "Actuated axes max position", nrOfActuatedAxes); + bool vecOk = getVectorFromConf(coupling_group_bottle, actuated_axis_pos_limit_min, "actuatedAxesPosMin", "Actuated axes min position", nrOfActuatedAxes); if (vecOk) { for(size_t i = 0; i < m_actuatedAxesPosLimits.size(); ++i) @@ -403,8 +403,8 @@ bool GazeboYarpControlBoardDriver::gazebo_init() } std::vector actuated_axis_pos_limit_max; - vecOk = getVectorFromConf(coupling_group_bottle, actuated_axis_pos_limit_min, "actuatedAxesPosMax", "Actuated axes max position", nrOfActuatedAxes); - if (!vecOk) + vecOk = getVectorFromConf(coupling_group_bottle, actuated_axis_pos_limit_max, "actuatedAxesPosMax", "Actuated axes max position", nrOfActuatedAxes); + if (vecOk) { for(size_t i = 0; i < m_actuatedAxesPosLimits.size(); ++i) { @@ -413,7 +413,7 @@ bool GazeboYarpControlBoardDriver::gazebo_init() } else { - yCError(GAZEBOCONTROLBOARD) << "Failed to get actuated axes min limits"; + yCError(GAZEBOCONTROLBOARD) << "Failed to get actuated axes max limits"; return false; } yCInfo(GAZEBOCONTROLBOARD) << "using coupling_xcub_hand_mk5";