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fix include aubo tcp pose in robot state

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