From ff17e8ab3a4c3386eebda86f5280bebe1a772fc3 Mon Sep 17 00:00:00 2001
From: "Dr. Denis" <denis@stoglrobotics.de>
Date: Mon, 19 Jun 2023 18:30:04 +0200
Subject: [PATCH] Don't reset commands in `on_deactivate`.

---
 pid_controller/src/pid_controller.cpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
index d7ac7fb5ee..0a90db18c9 100644
--- a/pid_controller/src/pid_controller.cpp
+++ b/pid_controller/src/pid_controller.cpp
@@ -357,11 +357,6 @@ controller_interface::CallbackReturn PidController::on_activate(
 controller_interface::CallbackReturn PidController::on_deactivate(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
-  // instead of a loop
-  for (size_t i = 0; i < dof_; ++i)
-  {
-    command_interfaces_[i].set_value(std::numeric_limits<double>::quiet_NaN());
-  }
   return controller_interface::CallbackReturn::SUCCESS;
 }