joint_effort_controller.cpp

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#include <effort_controllers/joint_effort_controller.h>
#include <pluginlib/class_list_macros.hpp>
 
template <class T>
void forward_command_controller::ForwardCommandController<T>::starting(const ros::Time& time)
{
  // Start controller with 0.0 effort
  command_buffer_.writeFromNonRT(0.0);
}
 
 
PLUGINLIB_EXPORT_CLASS(effort_controllers::JointEffortController,controller_interface::ControllerBase)