fix include aubo tcp pose in robot state

2026-09-22 16:37:26 +08:00 · 2026-09-22 16:37:26 +08:00 · 51bdbb9776
commit 51bdbb9776
parent 061bfc5048
1 changed files with 1 additions and 0 deletions
--- a/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp
+++ b/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp
@ -638,6 +638,7 @@ ArmState AuboArm::getRobotState() const
    state.speed_scaling = speed_scaling_;
    state.actual_joint_state = getJointState();
    state.target_joint_state = state.actual_joint_state;
+    state.actual_tcp_pose = getTcpPose(FrameType::Base);
    return state;
 }