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Give this file a look. It is a good example of how to get a joint's commanded effort (aka torque).
Just note, instead of:
joint_state_blw_->position_;
Use:
joint_state_blw_->commanded_effor_;
| | 2 | No.2 Revision |
| | 3 | No.3 Revision |
Give this file a look. It is a good example of how to get a joint's commanded effort (aka torque).
Just note, instead of:
joint_state_blw_->position_;
Use:
joint_state_blw_->commanded_effor_;
joint_state_blw_->commanded_effort_;
EDIT: The reason that I suggested using the pr2_controller_interface is that it's what provides a ROS API to Gazebo. By default, ROS has no access to Gazebo joint information. It's the pr2_controllers that allow us to obtain information and publish messages to Gazebo. By adding such a controller to your robot, you're able to monitor the joints in real time (with respect to Gazebo).
You could always try subscribing to /joint_states instead, but I don't know if that will provide the information that you require.
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