joint_group_effort_controller.cpp

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#include <effort_controllers/joint_group_effort_controller.h>
#include <pluginlib/class_list_macros.hpp>
 
template <class T>
void forward_command_controller::ForwardJointGroupCommandController<T>::starting(const ros::Time& time)
{
  // Start controller with 0.0 efforts
  commands_buffer_.readFromRT()->assign(n_joints_, 0.0);
}
 
 
PLUGINLIB_EXPORT_CLASS(effort_controllers::JointGroupEffortController,controller_interface::ControllerBase)