Merge pull request #58 in SWDEV/franka_ros from hot-fix-use-O_T_EE_d-in-examples to kinetic-devel

* commit '2434b3db':
  Update CHANGELOG.md
  use O_T_EE_d

CHANGELOG.md

@@ -4,6 +4,7 @@
 
   * Added missing run-time dependencies to `franka_description` and `franka_control`
   * Added epsilon to grasp action
+  * Use O_T_EE_d in examples
 
 ## 0.1.2 - 2017-10-10
 

franka_example_controllers/src/cartesian_pose_example_controller.cpp

@@ -47,7 +47,7 @@ bool CartesianPoseExampleController::init(hardware_interface::RobotHW* robot_har
 }
 
 void CartesianPoseExampleController::starting(const ros::Time& /*time*/) {
-  initial_pose_ = cartesian_pose_handle_->getRobotState().O_T_EE;
+  initial_pose_ = cartesian_pose_handle_->getRobotState().O_T_EE_d;
 }
 
 void CartesianPoseExampleController::update(const ros::Time& /*time*/,

franka_example_controllers/src/joint_impedance_example_controller.cpp

@@ -140,7 +140,7 @@ bool JointImpedanceExampleController::init(hardware_interface::RobotHW* robot_hw
 }
 
 void JointImpedanceExampleController::starting(const ros::Time& /*time*/) {
-  initial_pose_ = cartesian_pose_handle_->getRobotState().O_T_EE;
+  initial_pose_ = cartesian_pose_handle_->getRobotState().O_T_EE_d;
 }
 
 void JointImpedanceExampleController::update(const ros::Time& /*time*/,