Merge pull request #21 from helix-robotics-ag/seb/pccfk_for_vis

Seb/pccfk for vis
helix-robotics-ag · Jun 4, 2024 · 7e85739 · 7e85739
2 parents feb70ea + 9074433
commit 7e85739
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diff --git a/.gitmodules b/.gitmodules
@@ -1,3 +1,3 @@
 [submodule "dynamixel_hardware"]
 	path = dynamixel_hardware
-	url = git@github.com:helix-robotics-ag/dynamixel_hardware.git
+	url = https://github.com/helix-robotics-ag/ros-helix.git
diff --git a/helix_transmission/helix_transmission/tendon_transmission.py b/helix_transmission/helix_transmission/tendon_transmission.py
@@ -129,12 +129,13 @@ def tendon_to_motor_command_cb(self, msg):
         self.tendon_to_motor_command_pub.publish(motor_command)
 
     def motor_state_cb(self, msg):
-        tendon_state = JointState()
         motor_names = sorted(msg.name)
         motor_angs = [msg.position[msg.name.index(motor_name)] for motor_name in motor_names]
         self.last_motor_joint_positions = np.array(motor_angs, dtype=np.float64)
         motor_angvels = [msg.velocity[msg.name.index(motor_name)] for motor_name in motor_names]
         motor_currents = [msg.effort[msg.name.index(motor_name)] for motor_name in motor_names]
+        tendon_state = JointState()
+        tendon_state.header.stamp = msg.header.stamp
         tendon_state.name = motor_names
         tendon_state.position = ((np.array(motor_angs, dtype=np.float64) - self.MOTOR_OFFSETS) \
                                  * self.PULLEY_RADIUS * self.MOTOR_ORIENTS).tolist()