set_hold_position on success

christophfroehlich · christophfroehlich · commit c8cf278ceffd · 2023-07-02T20:16:00.000Z
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -328,6 +328,7 @@ controller_interface::return_type JointTrajectoryController::update(
         {
           if (!outside_goal_tolerance)
           {
+            set_hold_position();
             auto res = std::make_shared<FollowJTrajAction::Result>();
             res->set__error_code(FollowJTrajAction::Result::SUCCESSFUL);
             active_goal->setSucceeded(res);

Original file line number	Diff line number	Diff line change
`@@ -328,6 +328,7 @@ controller_interface::return_type JointTrajectoryController::update(`
`328`	`328`	`{`
`329`	`329`	`if (!outside_goal_tolerance)`
`330`	`330`	`{`
	`331`	`+ set_hold_position();`
`331`	`332`	`auto res = std::make_shared<FollowJTrajAction::Result>();`
`332`	`333`	`res->set__error_code(FollowJTrajAction::Result::SUCCESSFUL);`
`333`	`334`	`active_goal->setSucceeded(res);`