Merge pull request #233 from idra-lab/rolling-issue232

Update TorqueCommandInterface - #232
lbr-stack · Dec 4, 2024 · 58ff69a · 58ff69a
2 parents 01dadf0 + 32ddf1a
commit 58ff69a
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diff --git a/lbr_fri_ros2/src/interfaces/torque_command.cpp b/lbr_fri_ros2/src/interfaces/torque_command.cpp
@@ -35,6 +35,7 @@ void TorqueCommandInterface::buffered_command_to_fri(fri_command_t_ref command,
     joint_position_filter_.initialize(state.sample_time);
   }
   joint_position_filter_.compute(command_target_.joint_position, command_.joint_position);
+  command_.torque = command_target_.torque;
 
   // validate
   if (!command_guard_->is_valid_command(command_, state)) {

diff --git a/lbr_fri_ros2/src/interfaces/wrench_command.cpp b/lbr_fri_ros2/src/interfaces/wrench_command.cpp
@@ -33,6 +33,7 @@ void WrenchCommandInterface::buffered_command_to_fri(fri_command_t_ref command,
     joint_position_filter_.initialize(state.sample_time);
   }
   joint_position_filter_.compute(command_target_.joint_position, command_.joint_position);
+  command_.wrench = command_target_.wrench;
 
   // validate
   if (!command_guard_->is_valid_command(command_, state)) {