From fb54317a6e8eb9cd04486e20e634b50808f14ad5 Mon Sep 17 00:00:00 2001 From: Erik Johnson Date: Mon, 15 Jan 2024 10:27:18 -0500 Subject: [PATCH] Publish correct joint velocities in r6bot example 7 --- example_7/reference_generator/send_trajectory.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/example_7/reference_generator/send_trajectory.cpp b/example_7/reference_generator/send_trajectory.cpp index 44caff2e2..e6d3fd787 100644 --- 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