From 4577580a3d55ccddd080f5ce1fbe571a5005e161 Mon Sep 17 00:00:00 2001 From: Matteo Dalle Vedove Date: Wed, 4 Dec 2024 09:19:37 +0100 Subject: [PATCH] Update TorqueCommandInterface - #232 (cherry picked from commit 2cc7ae8929979f75af2a5d0a1558cae53422149d) --- lbr_fri_ros2/src/interfaces/torque_command.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/lbr_fri_ros2/src/interfaces/torque_command.cpp b/lbr_fri_ros2/src/interfaces/torque_command.cpp index 54f53a2b..cad5e2b2 100644 --- 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.";