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Merge pull request #107 from 708yamaguchi/publish-error
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Publish error in /servo_states
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iory authored Nov 4, 2024
2 parents a83c7d0 + f7054d6 commit 4beb54f
Showing 1 changed file with 2 additions and 3 deletions.
5 changes: 2 additions & 3 deletions ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
Original file line number Diff line number Diff line change
Expand Up @@ -978,16 +978,15 @@ def publish_joint_states(self):
if idx is None:
continue
position = np.deg2rad(av[idx])
effort = torque_vector[idx]
effort = np.deg2rad(torque_vector[idx])
msg.position.append(position)
msg.effort.append(effort)
msg.name.append(name)
servo_state_msg = ServoState(
header=msg.header,
name=name,
position=position,
error=effort,
temperature=temperatures)
error=effort)
if temperatures is not None and len(temperatures) > idx:
servo_state_msg.temperature = temperatures[idx]
if currents is not None and len(currents) > idx:
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