From 717e082c5f53e25df6e1755b29870eca52410c5d Mon Sep 17 00:00:00 2001
From: Lukasz Duda <lukasz.duda@franka.de>
Date: Fri, 8 Dec 2017 17:47:34 +0100
Subject: [PATCH] use O_T_EE_d
---
.../src/cartesian_pose_example_controller.cpp | 2 +-
.../src/joint_impedance_example_controller.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/franka_example_controllers/src/cartesian_pose_example_controller.cpp b/franka_example_controllers/src/cartesian_pose_example_controller.cpp
index bd00e6a..441119d 100644
--- a/franka_example_controllers/src/cartesian_pose_example_controller.cpp
+++ b/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*/,
diff --git a/franka_example_controllers/src/joint_impedance_example_controller.cpp b/franka_example_controllers/src/joint_impedance_example_controller.cpp
index 7e090da..dfc81a8 100644
--- a/franka_example_controllers/src/joint_impedance_example_controller.cpp
+++ b/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*/,
--
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