updated to new local api

EnricoMingo · Feb 13, 2025 · 069c6d9 · 069c6d9
1 parent 0fab3fd
commit 069c6d9
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/tasks/velocity/VisualServoing.cpp b/src/tasks/velocity/VisualServoing.cpp
@@ -22,7 +22,7 @@ VisualServoing::VisualServoing(std::string task_id,
 
     _cartesian_task = std::make_shared<Cartesian>("vs_"+camera_link, robot, camera_link, base_link);
     _cartesian_task->setLambda(0.0); // not needed actually, just as reminder
-    _cartesian_task->setIsBodyJacobian(true); //we want to control the robot in camera_frame
+    _cartesian_task->rotateToLocal(true); //we want to control the robot in camera_frame
 
     _V.setIdentity(); //intialize sensor_frame and camera_frame coincident