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Apply flipped to joint state in joint_position_controller #78

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Apply flipped to joint state in joint_position_controller #78

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11 changes: 8 additions & 3 deletions dynamixel_controllers/src/dynamixel_controllers/joint_position_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -172,9 +172,14 @@ def process_motor_states(self, state_list):
self.joint_state.motor_temps = [state.temperature]
self.joint_state.goal_pos = self.raw_to_rad(state.goal, self.initial_position_raw, self.flipped, self.RADIANS_PER_ENCODER_TICK)
self.joint_state.current_pos = self.raw_to_rad(state.position, self.initial_position_raw, self.flipped, self.RADIANS_PER_ENCODER_TICK)
self.joint_state.error = state.error * self.RADIANS_PER_ENCODER_TICK
self.joint_state.velocity = state.speed * self.VELOCITY_PER_TICK
self.joint_state.load = state.load
if self.flipped:
self.joint_state.error = -state.error * self.RADIANS_PER_ENCODER_TICK
self.joint_state.velocity = -state.speed * self.VELOCITY_PER_TICK
self.joint_state.load = -state.load
else:
self.joint_state.error = state.error * self.RADIANS_PER_ENCODER_TICK
self.joint_state.velocity = state.speed * self.VELOCITY_PER_TICK
self.joint_state.load = state.load
self.joint_state.is_moving = state.moving
self.joint_state.header.stamp = rospy.Time.from_sec(state.timestamp)

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