Commit 5d4e2c66 authored by NoelieRamuzat's avatar NoelieRamuzat
Browse files

[Effort Mode] Add default PD controller when no control

parent 89297b15
......@@ -1089,6 +1089,12 @@ void RCSotController::update(const ros::Time &, const ros::Duration &period) {
ROS_ERROR_STREAM("RCSotController::update: " << e.what());
throw;
}
// But in effort mode it means that we are sending 0
// Therefore implements a default PD controller on the system.
// Applying both to handle mixed system.
localStandbyEffortControlMode(period);
localStandbyVelocityControlMode(period);
localStandbyPositionControlMode();
}
}
......
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