Update Ros2ControlSystem.cpp: correct acceleration

cyberbotics · Dec 27, 2024 · 3d7dc08 · 3d7dc08
1 parent be9c9ce
commit 3d7dc08
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/webots_ros2_control/src/Ros2ControlSystem.cpp b/webots_ros2_control/src/Ros2ControlSystem.cpp
@@ -153,7 +153,7 @@ namespace webots_ros2_control {
         const double velocity = std::isnan(joint.position) ? NAN : (position - joint.position) / deltaTime;
 
         if (!std::isnan(joint.velocity))
-          joint.acceleration = (joint.velocity - velocity) / deltaTime;
+          joint.acceleration = (velocity - joint.velocity) / deltaTime;
         joint.velocity = velocity;
         joint.position = position;
       }