adds wrench comand (#233 (comment))

(cherry picked from commit be0f0a3)
lbr-stack · Dec 4, 2024 · d6aee14 · d6aee14
1 parent 4577580
commit d6aee14
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Showing 2 changed files with 1 addition and 2 deletions.
diff --git a/lbr_fri_ros2/src/interfaces/torque_command.cpp b/lbr_fri_ros2/src/interfaces/torque_command.cpp
@@ -35,9 +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;
-  command_.joint_position = command_target_.joint_position;
 
   // 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)) {