forward command interface to state interface

URJala · URJala · commit 2b4608829865 · 2025-03-25T11:29:06.000Z
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -952,6 +952,8 @@ void URPositionHardwareInterface::check_tool_contact_controller()
         // TOOL_CONTACT_FAILURE_END
         tool_contact_state_ = 7.0;
       }
+    } else {
+      tool_contact_state_ = cmd_state;
     }
   }
 }

Original file line number	Diff line number	Diff line change
`@@ -952,6 +952,8 @@ void URPositionHardwareInterface::check_tool_contact_controller()`
`952`	`952`	`// TOOL_CONTACT_FAILURE_END`
`953`	`953`	`tool_contact_state_ = 7.0;`
`954`	`954`	`}`
	`955`	`+ } else {`
	`956`	`+ tool_contact_state_ = cmd_state;`
`955`	`957`	`}`
`956`	`958`	`}`
`957`	`959`	`}`