Only fix the frame id

ros-controls · Nov 21, 2024 · 280b339 · 280b339
1 parent 45f5315
commit 280b339
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
@@ -292,7 +292,7 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
         if (msg.header.frame_id != admittance_->parameters_.ft_sensor.frame.id && !msg.header.frame_id.empty())
         {
           RCLCPP_ERROR_STREAM(
-            get_node()->get_logger(), "Ignoring wrench reference as it is on the wrong frame: " << msg.header.frame_id << ". Expected reference frame: " << admittance_->parameters_.ft_sensor.frame_id);
+            get_node()->get_logger(), "Ignoring wrench reference as it is on the wrong frame: " << msg.header.frame_id << ". Expected reference frame: " << admittance_->parameters_.ft_sensor.frame.id);
           return;
         }
         input_wrench_command_.writeFromNonRT(msg);