Obbart/universal_robots_ros_driver
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Set reference frame for twist to base_frame_

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Simon
2015-11-16 12:52:42 +01:00
parent 737c8310d5
commit dc7204fe6e
1 changed files with 1 additions and 1 deletions
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src/ur_ros_wrapper.cpp
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@@ -618,7 +618,7 @@ private:
std::vector<double> tcp_speed = std::vector<double> tcp_speed =
robot_.rt_interface_->robot_state_->getTcpSpeedActual(); robot_.rt_interface_->robot_state_->getTcpSpeedActual();
geometry_msgs::TwistStamped tool_twist; 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.header.stamp = joint_msg.header.stamp;
tool_twist.twist.linear.x = tcp_speed[0]; tool_twist.twist.linear.x = tcp_speed[0];
tool_twist.twist.linear.y = tcp_speed[1]; tool_twist.twist.linear.y = tcp_speed[1];