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Broadcast setpoint_cp to tf #192

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adeguet1 opened this issue Dec 5, 2023 · 0 comments
Open

Broadcast setpoint_cp to tf #192

adeguet1 opened this issue Dec 5, 2023 · 0 comments
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adeguet1 commented Dec 5, 2023

The current code uses measured_cp to broadcast to tf2. We could add a second tree using setpoint_cp. For this to work we would likely need to add a prefix to all the frame names (in bridge Addtf2BroadcasterFromCommandRead) and make sure all components have setpoint_cp (i.e. SUJs).
@adeguet1 adeguet1 self-assigned this Dec 5, 2023
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