Merge pull request #2 from mhubii/rolling-issue232

Hydran00 · web-flow · commit 32ddf1ab6c37 · 2024-12-04T20:55:26.000+01:00
Adds wrench command
diff --git a/lbr_fri_ros2/src/interfaces/torque_command.cpp b/lbr_fri_ros2/src/interfaces/torque_command.cpp
@@ -35,9 +35,7 @@ void TorqueCommandInterface::buffered_command_to_fri(fri_command_t_ref command,
     joint_position_filter_.initialize(state.sample_time);
   }
   joint_position_filter_.compute(command_target_.joint_position, command_.joint_position);
-
   command_.torque = command_target_.torque;
-  command_.joint_position = command_target_.joint_position;
 
   // validate
   if (!command_guard_->is_valid_command(command_, state)) {
diff --git a/lbr_fri_ros2/src/interfaces/wrench_command.cpp b/lbr_fri_ros2/src/interfaces/wrench_command.cpp
@@ -33,6 +33,7 @@ void WrenchCommandInterface::buffered_command_to_fri(fri_command_t_ref command,
     joint_position_filter_.initialize(state.sample_time);
   }
   joint_position_filter_.compute(command_target_.joint_position, command_.joint_position);
+  command_.wrench = command_target_.wrench;
 
   // validate
   if (!command_guard_->is_valid_command(command_, state)) {

Original file line number	Diff line number	Diff line change
`@@ -35,9 +35,7 @@ void TorqueCommandInterface::buffered_command_to_fri(fri_command_t_ref command,`
`35`	`35`	`joint_position_filter_.initialize(state.sample_time);`
`36`	`36`	`}`
`37`	`37`	`joint_position_filter_.compute(command_target_.joint_position, command_.joint_position);`
`38`		`-`
`39`	`38`	`command_.torque = command_target_.torque;`
`40`		`- command_.joint_position = command_target_.joint_position;`
`41`	`39`
`42`	`40`	`// validate`
`43`	`41`	`if (!command_guard_->is_valid_command(command_, state)) {`
Original file line number	Diff line number	Diff line change
`@@ -33,6 +33,7 @@ void WrenchCommandInterface::buffered_command_to_fri(fri_command_t_ref command,`
`33`	`33`	`joint_position_filter_.initialize(state.sample_time);`
`34`	`34`	`}`
`35`	`35`	`joint_position_filter_.compute(command_target_.joint_position, command_.joint_position);`
	`36`	`+ command_.wrench = command_target_.wrench;`
`36`	`37`
`37`	`38`	`// validate`
`38`	`39`	`if (!command_guard_->is_valid_command(command_, state)) {`