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fix fri control mode to position control
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krmihaly committed Oct 14, 2024
1 parent 6ad65f6 commit c5eeb08
Showing 1 changed file with 1 addition and 2 deletions.
3 changes: 1 addition & 2 deletions kuka_sunrise_fri_driver/src/hardware_interface.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -210,9 +210,8 @@ CallbackReturn KukaFRIHardwareInterface::on_activate(const rclcpp_lifecycle::Sta
fri_connection_->setClientCommandMode(ClientCommandModeID::TORQUE_COMMAND_MODE);
break;
case kuka_drivers_core::ControlMode::CARTESIAN_POSITION_CONTROL:
fri_connection_->setPositionControlMode();
fri_connection_->setClientCommandMode(ClientCommandModeID::CARTESIAN_POSE_COMMAND_MODE);
fri_connection_->setCartesianImpedanceControlMode(
hw_cart_stiffness_commands_, hw_cart_damping_commands_);
break;
case kuka_drivers_core::ControlMode::WRENCH_CONTROL:
fri_connection_->setCartesianImpedanceControlMode(
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