From 6d5206493f895e6a429a69b671110219cdfdccd9 Mon Sep 17 00:00:00 2001 From: Ammar Ahmed Khan <128088466+ammr191204@users.noreply.github.com> Date: Sat, 1 Nov 2025 20:08:09 +0500 Subject: [PATCH] the ros2 jazzy during colcon build gives error of not accepting mode torque instead suggesting mode pose --- ur_robot_driver/src/hardware_interface.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp index 2a614a77d..30c3d65ed 100644 --- a/ur_robot_driver/src/hardware_interface.cpp +++ b/ur_robot_driver/src/hardware_interface.cpp @@ -875,7 +875,7 @@ hardware_interface::return_type URPositionHardwareInterface::write(const rclcpp: } else if (velocity_controller_running_) { ur_driver_->writeJointCommand(urcl_velocity_commands_, urcl::comm::ControlMode::MODE_SPEEDJ, receive_timeout_); } else if (torque_controller_running_) { - ur_driver_->writeJointCommand(urcl_torque_commands_, urcl::comm::ControlMode::MODE_TORQUE, receive_timeout_); + ur_driver_->writeJointCommand(urcl_torque_commands_, urcl::comm::ControlMode::MODE_, receive_timeout_); } else if (freedrive_mode_controller_running_ && freedrive_activated_) { ur_driver_->writeFreedriveControlMessage(urcl::control::FreedriveControlMessage::FREEDRIVE_NOOP);