Use correct ff_velocity_scale parameter

ros-controls · Nov 7, 2023 · 80e370e · 80e370e
1 parent 3bb68d9
commit 80e370e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -282,7 +282,7 @@ controller_interface::return_type JointTrajectoryController::update(
           {
             size_t index_cmd_joint = map_cmd_to_joints_[i];
             tmp_command_[index_cmd_joint] =
-              (state_desired_.velocities[index_cmd_joint] * ff_velocity_scale_[index_cmd_joint]) +
+              (state_desired_.velocities[index_cmd_joint] * ff_velocity_scale_[i]) +
               pids_[i]->computeCommand(
                 state_error_.positions[index_cmd_joint], state_error_.velocities[index_cmd_joint],
                 (uint64_t)period.nanoseconds());