Fix reporting arm state [end_effector pose]

CroboticSolutions / arm_api2

Code wrapper for MoveIt2! and ROS 2.

BSD 3-Clause "New" or "Revised" License

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Closed fzoric8 closed 4 months ago

fzoric8 commented 4 months ago

EXPLANATION: Upon testing we realized end_effector pose has been reported wrongly FIX:

Added reading of current joint states to update robot state
Added getting robot pose on different way (similar to how I did it in MoveIt!) RESULT:
Correctly reported end-effector pose for both ways of robot commanding (topic/rviz2)