Fix arm base link

umrover · Apr 18, 2024 · b26ea44 · b26ea44
1 parent 3a9bcbe
commit b26ea44
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/teleoperation/arm_controller/arm_controller.cpp b/src/teleoperation/arm_controller/arm_controller.cpp
@@ -28,7 +28,7 @@ namespace mrover {
         double x = endEffectorInArmBaseLink.translation().x() - END_EFFECTOR_LENGTH; // shift back by the length of the end effector
         double y = endEffectorInArmBaseLink.translation().y();
         double z = endEffectorInArmBaseLink.translation().z();
-        SE3Conversions::pushToTfTree(mTfBroadcaster, "arm_target", "arm_base_link", targetFrameToArmBaseLink);
+        SE3Conversions::pushToTfTree(mTfBroadcaster, "arm_target", "arm_base_link", endEffectorInArmBaseLink);
 
         double gamma = 0;
         double x3 = x - LINK_DE * std::cos(gamma);

diff --git a/urdf/rover/rover.urdf.xacro b/urdf/rover/rover.urdf.xacro
@@ -204,7 +204,7 @@
   <link name="arm_base_link"/>
 
   <joint name="base_link_to_arm_base_link" type="fixed">
-    <origin xyz="0.199228 0.200235 0.540196"/>
+    <origin xyz="0.199228 -0.200235 0.540196"/>
     <parent link="base_link"/>
     <child link="arm_base_link"/>
   </joint>