From 43c91c37c39b82549dc12202c3153949e19f04f5 Mon Sep 17 00:00:00 2001 From: Captain Yoshi Date: Wed, 3 Apr 2024 10:56:44 -0400 Subject: [PATCH] Fix missing offset to FTS reference frame --- .../cartesian_compliance_controller.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cartesian_compliance_controller/include/cartesian_compliance_controller/cartesian_compliance_controller.hpp b/cartesian_compliance_controller/include/cartesian_compliance_controller/cartesian_compliance_controller.hpp index 2d77d719..ef0c01ff 100644 --- a/cartesian_compliance_controller/include/cartesian_compliance_controller/cartesian_compliance_controller.hpp +++ b/cartesian_compliance_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