Update commands for torque interface

Solves issue lbr-stack#232 Co-autohred with @Hydran00
idra-lab · Dec 4, 2024 · 6001898 · 6001898
1 parent f3b9f40
commit 6001898
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/lbr_fri_ros2/src/interfaces/torque_command.cpp b/lbr_fri_ros2/src/interfaces/torque_command.cpp
@@ -36,6 +36,9 @@ void TorqueCommandInterface::buffered_command_to_fri(fri_command_t_ref command,
   }
   joint_position_filter_.compute(command_target_.joint_position, command_.joint_position);
 
+  command_.torque = command_target_.torque;
+  command_.joint_position = command_target_.joint_position;
+
   // validate
   if (!command_guard_->is_valid_command(command_, state)) {
     std::string err = "Invalid command.";