[AdmittanceController] It looks like an unintentional copy-paste has happened

[destogl]

Those two lines seems to be a small bug. The second line should probably be:

state_message_.ref_trans_base_ft.child_frame = parameters_.ft_sensor.frame.id;

ros2_controllers/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp

Lines 375 to 376 in f4788c5

	state_message_.ref_trans_base_ft.header.frame_id = parameters_.kinematics.base;
	state_message_.ref_trans_base_ft.header.frame_id = "ft_reference";

• Please add check of this frames in the tests, so we are sure that everything is set correctly.

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[rehanshah17]

@destogl i'm interested to take this issue up and contribute. Could you help me set up / start. I have an idea of what I want to do but not too sure how to execute.

[christophfroehlich]

Have a look at the contribution guidelines on control.ros.org. I also added the first-issue template to the initial post.

The solution for the fix is already given above, the question is how to test that. Have a look at the existing tests, and where the new test would fit.

[rehanshah17]

I fixed child frame in the test I created, and updated my pull request