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Published 20 hours ago • verified publisher icon ros-controls

[AdmittanceController] It looks like an unintentional copy-paste has happened

Open destogl opened this issue 2 years ago • 0 comments

Those two lines seems to be a small bug. The second line should probably be:

state_message_.ref_trans_base_ft.child_frame = parameters_.ft_sensor.frame.id;

https://github.com/ros-controls/ros2_controllers/blob/f4788c594026bc3ecf0d944e1fa39f3f2d40673b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp#L375-L376

  • [ ] Please add check of this frames in the tests, so we are sure that everything is set correctly.

destogl avatar Jan 13 '23 14:01 destogl