Merge branch 'humble' into dev-humble-launch

mhubii · mhubii · commit aaf450af300d · 2024-05-14T17:15:02.000+01:00
diff --git a/lbr_fri_ros2/src/command_guard.cpp b/lbr_fri_ros2/src/command_guard.cpp
@@ -50,7 +50,7 @@ bool CommandGuard::command_in_velocity_limits_(const_idl_command_t_ref lbr_comma
     prev_measured_joint_position_ = lbr_state.measured_joint_position;
     return true;
   }
-  for (std::size_t i = 0; i < lbr_command.joint_position[i]; ++i) {
+  for (std::size_t i = 0; i < lbr_command.joint_position.size(); ++i) {
     if (std::abs(prev_measured_joint_position_[i] - lbr_state.measured_joint_position[i]) / dt >
         parameters_.max_velocities[i]) {
       RCLCPP_ERROR_STREAM(rclcpp::get_logger(LOGGER_NAME),

Original file line number	Diff line number	Diff line change
`@@ -50,7 +50,7 @@ bool CommandGuard::command_in_velocity_limits_(const_idl_command_t_ref lbr_comma`
`50`	`50`	`prev_measured_joint_position_ = lbr_state.measured_joint_position;`
`51`	`51`	`return true;`
`52`	`52`	`}`
`53`		`- for (std::size_t i = 0; i < lbr_command.joint_position[i]; ++i) {`
	`53`	`+ for (std::size_t i = 0; i < lbr_command.joint_position.size(); ++i) {`
`54`	`54`	`if (std::abs(prev_measured_joint_position_[i] - lbr_state.measured_joint_position[i]) / dt >`
`55`	`55`	`parameters_.max_velocities[i]) {`
`56`	`56`	`RCLCPP_ERROR_STREAM(rclcpp::get_logger(LOGGER_NAME),`