Skip to content

Commit

Permalink
Still fill desired/actual deprecated fields (#1172)
Browse files Browse the repository at this point in the history
  • Loading branch information
bmagyar authored Jun 19, 2024
1 parent deeb9d0 commit b9cc260
Showing 1 changed file with 6 additions and 0 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -1180,6 +1180,12 @@ void JointTrajectoryController::publish_state(
state_publisher_->msg_.reference.velocities = desired_state.velocities;
state_publisher_->msg_.reference.accelerations = desired_state.accelerations;
state_publisher_->msg_.feedback.positions = current_state.positions;
// DESIRED and ACTUAL are deprecated in the message but we are still
// reporting on them
state_publisher_legacy_->msg_.desired.positions = desired_state.positions;
state_publisher_legacy_->msg_.desired.velocities = desired_state.velocities;
state_publisher_legacy_->msg_.desired.accelerations = desired_state.accelerations;
state_publisher_legacy_->msg_.actual.positions = current_state.positions;
state_publisher_->msg_.error.positions = state_error.positions;
if (has_velocity_state_interface_)
{
Expand Down

0 comments on commit b9cc260

Please sign in to comment.