Merge pull request #40 in SRR/franka_ros2 from hotfix/franka-state to…

… humble * commit '46dc7a2297832fa1530ff27ff3e8573b01bd1311': hotfix: fix franka state
frankaemika · Aug 22, 2023 · 5273252 · 5273252
2 parents 81c975c + 46dc7a2
commit 5273252
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/franka_hardware/src/franka_hardware_interface.cpp b/franka_hardware/src/franka_hardware_interface.cpp
@@ -90,10 +90,11 @@ hardware_interface::return_type FrankaHardwareInterface::read(const rclcpp::Time
   if (hw_franka_model_ptr_ == nullptr) {
     hw_franka_model_ptr_ = robot_->getModel();
   }
-  const auto kRobotState = robot_->readOnce();
-  hw_positions_ = kRobotState.q;
-  hw_velocities_ = kRobotState.dq;
-  hw_efforts_ = kRobotState.tau_J;
+
+  hw_franka_robot_state_ = robot_->readOnce();
+  hw_positions_ = hw_franka_robot_state_.q;
+  hw_velocities_ = hw_franka_robot_state_.dq;
+  hw_efforts_ = hw_franka_robot_state_.tau_J;
 
   return hardware_interface::return_type::OK;
 }