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[canopen_motor_node] variable initialization #414

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vincentrou opened this issue Dec 4, 2020 · 1 comment

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vincentrou commented Dec 4, 2020

The commands variables for velocity and effort in the HandleLayer class are not initialzed.
https://github.com/ros-industrial/ros_canopen/blob/melodic-devel/canopen_motor_node/include/canopen_motor_node/handle_layer.h#L89

I think they should be initialized to zero to avoid bad init with non zero cmd.

mathias-luedtke added the enhancement label

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mathias-luedtke commented Oct 14, 2021

In this case the value should be managed by hardware_interface::JointHandle. And if the JointHandle is not active, it will be overwritten anyway.

Any fixed value for the commands (especially cmd_pos_) is wrong, but It is okay to set it to 0 to just make any static code analyzer happy :)

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