Publish correct joint velocities in r6bot example 7

ros-controls · Jan 15, 2024 · fb54317 · fb54317
1 parent efe3aa2
commit fb54317
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/example_7/reference_generator/send_trajectory.cpp b/example_7/reference_generator/send_trajectory.cpp
@@ -81,7 +81,7 @@ int main(int argc, char ** argv)
  trajectory_point_msg.positions.data(), joint_positions.data.data(),
  trajectory_point_msg.positions.size() * sizeof(double));
  std::memcpy(
- trajectory_point_msg.velocities.data(), joint_positions.data.data(),
+ trajectory_point_msg.velocities.data(), joint_velocities.data.data(),
  trajectory_point_msg.velocities.size() * sizeof(double));
 
  // integrate joint velocities