diff --git a/franka_hw/src/franka_hw.cpp b/franka_hw/src/franka_hw.cpp index 40d9ac61e46c7dd9241e90ecfb984cca6e43fcb0..ddcc1caf9c75adebb301746d36ad3fae63368341 100644 --- a/franka_hw/src/franka_hw.cpp +++ b/franka_hw/src/franka_hw.cpp @@ -509,7 +509,7 @@ void FrankaHW::initROSInterfaces(ros::NodeHandle& /*robot_hw_nh*/) { } void FrankaHW::initRobot() { - robot_ = std::make_unique<franka::Robot>(robot_ip_); + robot_ = std::make_unique<franka::Robot>(robot_ip_, realtime_config_); model_ = std::make_unique<franka::Model>(robot_->loadModel()); robot_->setCollisionBehavior(collision_config_.lower_torque_thresholds_acceleration, collision_config_.upper_torque_thresholds_acceleration,