fixed the onInitComponent() compiling error

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.cpp

@@ -29,7 +29,8 @@ using namespace armarx;
 NJointHolonomicPlatformUnitVelocityPassThroughController::NJointHolonomicPlatformUnitVelocityPassThroughController(
     RobotUnitPtr prov,
     NJointHolonomicPlatformUnitVelocityPassThroughControllerConfigPtr
-    cfg, const VirtualRobot::RobotPtr&)
+    cfg, const VirtualRobot::RobotPtr&) :
+    maxCommandDelay(IceUtil::Time::milliSeconds(500))
 {
     target = useControlTarget(cfg->platformName, ControlModes::HolonomicPlatformVelocity)->asA<ControlTargetHolonomicPlatformVelocity>();
     ARMARX_CHECK_EXPRESSION_W_HINT(target, "The actuator " << cfg->platformName << " has no control mode " << ControlModes::HolonomicPlatformVelocity);
@@ -44,9 +45,10 @@ void NJointHolonomicPlatformUnitVelocityPassThroughController::rtRun(const IceUt
 {
     auto commandAge = sensorValuesTimestamp - rtGetControlStruct().commandTimestamp;
 
-    if (commandAge > maxCommandDelay) // command must be recent
+    if (commandAge > maxCommandDelay &&  // command must be recent
+        (rtGetControlStruct().velocityX != 0.0f || rtGetControlStruct().velocityY != 0.0f || rtGetControlStruct().velocityRotation != 0.0f)) // only throw error if any command is not zero
     {
-        throw LocalException("platform target velocity was not set for a too long time: delay: ") << commandAge.toSecondsDouble() << " s, max allowed delay: " << maxCommandDelay.toSecondsDouble() << " s";
+        throw LocalException("Platform target velocity was not set for a too long time: delay: ") << commandAge.toSecondsDouble() << " s, max allowed delay: " << maxCommandDelay.toSecondsDouble() << " s";
     }
     else
     {

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h

@@ -81,9 +81,7 @@ namespace armarx
         void setMaxCommandDelay(const IceUtil::Time& value);
 
     protected:
-        void onInitComponent() override {}
-        void onConnectComponent() override {}
-        IceUtil::Time maxCommandDelay = IceUtil::Time::milliSeconds(500);
+        IceUtil::Time maxCommandDelay;
 
         ControlTargetHolonomicPlatformVelocity* target;
         NJointHolonomicPlatformUnitVelocityPassThroughControllerControlData initialSettings;