typo in export_command_interfaces()

macmacal · macmacal · commit 63172fa9c04a · 2025-08-22T11:22:02.000+02:00
diff --git a/robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp b/robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp
@@ -172,7 +172,7 @@ std::vector<HWI::CommandInterface> RobotiqHandeHardwareInterface::export_command
         hardware_interface::HW_IF_POSITION,
         &cmd_position_));
     command_interfaces.emplace_back(hardware_interface::CommandInterface(
-        info_.joints[LEFT_FINGER_JOINT_ID].name, hardware_interface::HW_IF_POSITION, &cmd_force_));
+        info_.joints[LEFT_FINGER_JOINT_ID].name, hardware_interface::HW_IF_EFFORT, &cmd_force_));
 
     return command_interfaces;
 }

Original file line number	Diff line number	Diff line change
`@@ -172,7 +172,7 @@ std::vector<HWI::CommandInterface> RobotiqHandeHardwareInterface::export_command`
`172`	`172`	`hardware_interface::HW_IF_POSITION,`
`173`	`173`	`&cmd_position_));`
`174`	`174`	`command_interfaces.emplace_back(hardware_interface::CommandInterface(`
`175`		`- info_.joints[LEFT_FINGER_JOINT_ID].name, hardware_interface::HW_IF_POSITION, &cmd_force_));`
	`175`	`+ info_.joints[LEFT_FINGER_JOINT_ID].name, hardware_interface::HW_IF_EFFORT, &cmd_force_));`
`176`	`176`
`177`	`177`	`return command_interfaces;`
`178`	`178`	`}`