fix joint_state_feedback from cm to m (#251)

rapyuta-robotics · Jan 15, 2024 · e90dd21 · e90dd21
1 parent d659279
commit e90dd21
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/Source/RapyutaSimulationPlugins/Private/Robots/RRRobotROS2Interface.cpp b/Source/RapyutaSimulationPlugins/Private/Robots/RRRobotROS2Interface.cpp
@@ -482,8 +482,8 @@ void URRRobotROS2Interface::UpdateJointState(UROS2GenericMsg* InMessage)
         // UE to ROS conversion
         if (joint.Value->LinearDOF == 1)
         {
-            msg.Position.Emplace(joint.Value->Position[0]);
-            msg.Velocity.Emplace(joint.Value->LinearVelocity[0]);
+            msg.Position.Emplace(URRConversionUtils::DistanceUEToROS(joint.Value->Position[0]));
+            msg.Velocity.Emplace(URRConversionUtils::DistanceUEToROS(joint.Value->LinearVelocity[0]));
         }
         else if (joint.Value->RotationalDOF == 1)
         {