added the corner case of the simulation

ros-controls · Aug 27, 2024 · f5c05eb · f5c05eb
1 parent 89f1714
commit f5c05eb
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -1800,8 +1800,9 @@ HardwareReadWriteStatus ResourceManager::read(
       try
       {
         if (
+          resource_storage_->hardware_info_map_[component.get_name()].read_rate == 0 ||
           resource_storage_->hardware_info_map_[component.get_name()].read_rate ==
-          resource_storage_->cm_update_rate_)
+            resource_storage_->cm_update_rate_)
         {
           ret_val = component.read(time, period);
         }
@@ -1884,8 +1885,9 @@ HardwareReadWriteStatus ResourceManager::write(
       try
       {
         if (
+          resource_storage_->hardware_info_map_[component.get_name()].write_rate == 0 ||
           resource_storage_->hardware_info_map_[component.get_name()].write_rate ==
-          resource_storage_->cm_update_rate_)
+            resource_storage_->cm_update_rate_)
         {
           ret_val = component.write(time, period);
         }