This is just a small change to add frame_id when publishing the wrenches.
We need this in order to visualize (in rviz) the frame where the wrench applies to.
Just check and comment, do not merge it yet.
From the visualization i think that the force signs are reversed.
I'll check that tomorrow with the robot to make sure it's correct.
What i mean is, in order to be consistent with a force sensor on a robot, it should read as the force is being externally applied.
For me it seems that it is outputting the internal force instead, which is not what we want. But let me confirm this better.
This is just a small change to add frame_id when publishing the wrenches.
We need this in order to visualize (in rviz) the frame where the wrench applies to.
Just check and comment, do not merge it yet. From the visualization i think that the force signs are reversed. I'll check that tomorrow with the robot to make sure it's correct.
What i mean is, in order to be consistent with a force sensor on a robot, it should read as the force is being externally applied. For me it seems that it is outputting the internal force instead, which is not what we want. But let me confirm this better.