Fix wrong frame id of external wrench in TCP

flexivrobotics · Aug 2, 2024 · a413bb9 · a413bb9
1 parent b2976ca
commit a413bb9
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/..._robot_states_broadcaster/include/flexiv_robot_states_broadcaster/flexiv_robot_states.hpp b/..._robot_states_broadcaster/include/flexiv_robot_states_broadcaster/flexiv_robot_states.hpp
@@ -70,7 +70,7 @@ class FlexivRobotStates : public SemanticComponentInterface<flexiv_msgs::msg::Ro
         message.flange_pose.header.frame_id = kWorldFrameId;
         message.ft_sensor_raw.header.frame_id = kFlangeFrameId;
         message.ext_wrench_in_tcp.header.frame_id = kFlangeFrameId;
-        message.ext_wrench_in_world.header.frame_id = kWorldFrameId;
+        message.ext_wrench_in_world.header.frame_id = kFlangeFrameId;
     }
 
     /// Return RobotStates message