Commit 27585874 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Edit of stop() fct : commands to 0

parent 821075ef
......@@ -486,7 +486,15 @@ return_type SystemBoltHardware::start()
return_type SystemBoltHardware::stop()
{
RCLCPP_INFO(
// Set 0 values to commands
for (const hardware_interface::ComponentInfo & joint : info_.joints) {
hw_commands_[joint.name] = {0.0, 0.0, 0.0, 0.0, 0.0};
}
/*RCLCPP_INFO(
rclcpp::get_logger("SystemBoltHardware"),
"Stopping ...please wait...");
......@@ -501,7 +509,7 @@ return_type SystemBoltHardware::stop()
RCLCPP_INFO(
rclcpp::get_logger("SystemBoltHardware"),
"System sucessfully stopped!");
"System sucessfully stopped!");*/
return return_type::OK;
}
......
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