From b094539402a1944ad4a5880ebfd23f1c791dc06e Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Sat, 16 Nov 2024 09:30:07 -0500
Subject: [PATCH] Add allow_nonzero_velocity_at_trajectory_end parameter to
 exported ros2_controllers config file (#2751) (#3109)

(cherry picked from commit 281efe8c55c1c63e84d4b4af2e38ad72a2893058)

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
---
 .../moveit_setup_controllers/src/ros2_controllers_config.cpp     | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp b/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp
index 97f1907211..b21ec11f1c 100644
--- a/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp
+++ b/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp
@@ -206,6 +206,7 @@ bool ROS2ControllersConfig::GeneratedControllersConfig::writeYaml(YAML::Emitter&
           const ControlInterfaces interfaces = parent_.getControlInterfaces(ci.joints_);
           emitter << YAML::Key << "command_interfaces" << YAML::Value << interfaces.command_interfaces;
           emitter << YAML::Key << "state_interfaces" << YAML::Value << interfaces.state_interfaces;
+          emitter << YAML::Key << "allow_nonzero_velocity_at_trajectory_end" << YAML::Value << true;
         }
       }
       emitter << YAML::EndMap;