Fix dynamic allocation in admittance_rule (backport #2150) (#2154)

mergify[bot] · web-flow · commit 5d483f5e2d1a · 2026-02-10T11:16:31.000+01:00
diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
@@ -81,6 +81,9 @@ controller_interface::return_type AdmittanceRule::configure(
     return controller_interface::return_type::ERROR;
   }
 
+  // configure force torque sensor frame in state message
+  state_message_.ft_sensor_frame.data = parameters_.ft_sensor.frame.id;
+
   return controller_interface::return_type::OK;
 }
 
@@ -403,9 +406,6 @@ const control_msgs::msg::AdmittanceControllerState & AdmittanceRule::get_control
   state_message_.rot_base_control.y = quat.y();
   state_message_.rot_base_control.z = quat.z();
 
-  state_message_.ft_sensor_frame.data =
-    admittance_state_.ft_sensor_frame;  // TODO(anyone) remove dynamic allocation here
-
   return state_message_;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -81,6 +81,9 @@ controller_interface::return_type AdmittanceRule::configure(`
`81`	`81`	`return controller_interface::return_type::ERROR;`
`82`	`82`	`}`
`83`	`83`
	`84`	`+ // configure force torque sensor frame in state message`
	`85`	`+ state_message_.ft_sensor_frame.data = parameters_.ft_sensor.frame.id;`
	`86`	`+`
`84`	`87`	`return controller_interface::return_type::OK;`
`85`	`88`	`}`
`86`	`89`
`@@ -403,9 +406,6 @@ const control_msgs::msg::AdmittanceControllerState & AdmittanceRule::get_control`
`403`	`406`	`state_message_.rot_base_control.y = quat.y();`
`404`	`407`	`state_message_.rot_base_control.z = quat.z();`
`405`	`408`
`406`		`- state_message_.ft_sensor_frame.data =`
`407`		`- admittance_state_.ft_sensor_frame; // TODO(anyone) remove dynamic allocation here`
`408`		`-`
`409`	`409`	`return state_message_;`
`410`	`410`	`}`
`411`	`411`