Currently the wrench data published by gz-transport is not available via the C++ API. This pull request adds an accessor to the most recent Wrench message that is identical to that published on gz-transport.
Test it
Build and run bin/INTEGRATION_force_torque
Checklist
[X] Signed all commits for DCO
[X] Added tests
[ ] Added example and/or tutorial
[ ] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.
azeey
commented
4 months ago
🎉 New feature
Needed for https://github.com/gazebosim/gz-sim/issues/2268 and https://github.com/gazebosim/gz-sim/issues/2391.
Summary
Currently the wrench data published by gz-transport is not available via the C++ API. This pull request adds an accessor to the most recent
Wrenchmessage that is identical to that published on gz-transport.Test it
Build and run
bin/INTEGRATION_force_torqueChecklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.