Fix missing offset to FTS reference frame

fzi-forschungszentrum-informatik · Apr 11, 2024 · 43c91c3 · 43c91c3
1 parent 8eaa211
commit 43c91c3
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...ce_controller/include/cartesian_compliance_controller/cartesian_compliance_controller.hpp b/...ce_controller/include/cartesian_compliance_controller/cartesian_compliance_controller.hpp
@@ -85,7 +85,7 @@ init(HardwareInterface* hw, ros::NodeHandle& nh)
   }
 
   // Make sure sensor wrenches are interpreted correctly
-  ForceBase::setFtSensorReferenceFrame(m_compliance_ref_link);
+  ForceBase::setFtSensorReferenceFrame(m_compliance_ref_link, Base::m_identity_transform_kdl);
 
   // Connect dynamic reconfigure and overwrite the default values with values
   // on the parameter server. This is done automatically if parameters with