Merge pull request #45 from iory/frame

Add frame id for kjs
iory · Mar 4, 2024 · f835edb · f835edb
2 parents 938ded4 + 78f11fe
commit f835edb
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py b/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
@@ -373,6 +373,8 @@ def publish_sensor_values(self):
                             + '/kjs/{}/{}/{}'.format(sensor.id, typ, i),
                             geometry_msgs.msg.WrenchStamped,
                             queue_size=1)
+                    msg.header.frame_id = 'kjs_{}_{}_frame'.format(
+                        sensor.id, i)
                     self._sensor_publisher_dict[key].publish(msg)
 
     def run(self):