Get the robot_description from the controller's base class for _Jazzy_

fzi-forschungszentrum-informatik · Oct 22, 2024 · 2a0268a · 2a0268a
1 parent f53f798
commit 2a0268a
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/cartesian_controller_handles/src/motion_control_handle.cpp b/cartesian_controller_handles/src/motion_control_handle.cpp
@@ -141,7 +141,11 @@ MotionControlHandle::on_configure(const rclcpp_lifecycle::State & previous_state
   urdf::Model robot_model;
   KDL::Tree robot_tree;
 
+#if defined CARTESIAN_CONTROLLERS_JAZZY
+  std::string robot_description = this->get_robot_description();
+#else
   std::string robot_description = get_node()->get_parameter("robot_description").as_string();
+#endif
   if (robot_description.empty())
   {
     RCLCPP_ERROR(get_node()->get_logger(), "robot_description is empty");