From dc7204fe6e546c5924fa6d82aa9b1222f24fe88e Mon Sep 17 00:00:00 2001
From: Simon <sjansen@smart-robotics.com>
Date: Mon, 16 Nov 2015 12:52:42 +0100
Subject: [PATCH] Set reference frame for twist to base_frame_

---
 src/ur_ros_wrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/ur_ros_wrapper.cpp b/src/ur_ros_wrapper.cpp
index 24d805e..c95aa6b 100644
--- a/src/ur_ros_wrapper.cpp
+++ b/src/ur_ros_wrapper.cpp
@@ -618,7 +618,7 @@ private:
             std::vector<double> tcp_speed =
                     robot_.rt_interface_->robot_state_->getTcpSpeedActual();
             geometry_msgs::TwistStamped tool_twist;
-            tool_twist.header.frame_id = tool_frame_;
+            tool_twist.header.frame_id = base_frame_;
             tool_twist.header.stamp = joint_msg.header.stamp;
             tool_twist.twist.linear.x = tcp_speed[0];
             tool_twist.twist.linear.y = tcp_speed[1];