diff --git a/franka_example_controllers/launch/scripts/interactive_marker.py b/franka_example_controllers/launch/scripts/interactive_marker.py index 55d163f821ab5419c44cbd47ca9602d286f0cc25..379a7cadd5705b42cdd13f8c3485127292dfbc7b 100755 --- a/franka_example_controllers/launch/scripts/interactive_marker.py +++ b/franka_example_controllers/launch/scripts/interactive_marker.py @@ -27,16 +27,16 @@ def publisherCallback(msg, arm_id): def franka_state_callback(msg): initial_quaternion = \ tf.transformations.quaternion_from_matrix( - np.transpose(np.reshape(msg.O_T_EE_d, + np.transpose(np.reshape(msg.O_T_EE, (4, 4)))) initial_quaternion = initial_quaternion / np.linalg.norm(initial_quaternion) marker_pose.pose.orientation.x = initial_quaternion[0] marker_pose.pose.orientation.y = initial_quaternion[1] marker_pose.pose.orientation.z = initial_quaternion[2] marker_pose.pose.orientation.w = initial_quaternion[3] - marker_pose.pose.position.x = msg.O_T_EE_d[12] - marker_pose.pose.position.y = msg.O_T_EE_d[13] - marker_pose.pose.position.z = msg.O_T_EE_d[14] + marker_pose.pose.position.x = msg.O_T_EE[12] + marker_pose.pose.position.y = msg.O_T_EE[13] + marker_pose.pose.position.z = msg.O_T_EE[14] global initial_pose_found initial_pose_found = True