From c6a7a4d474ade0ffe4e51f4e9fb180406ef34947 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20J=C3=A4hne?= <christoph.jaehne@franka.de>
Date: Tue, 6 Aug 2019 10:32:41 +0200
Subject: [PATCH] use rt config in robot creation
---
franka_hw/src/franka_hw.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/franka_hw/src/franka_hw.cpp b/franka_hw/src/franka_hw.cpp
index 40d9ac6..ddcc1ca 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,
--
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