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If you're asking whether there is support "somewhere" in ROS to model the maximum payload of a manipulator, then the answer would be: no, there is no such support in any of the standard tools/nodes/configuration files.

That doesn't prevent you from setting a parameter that encodes that information though. And then use it in your own nodes.

If you're asking whether there is support "somewhere" in ROS (which would be ambiguous, as it would be the responsibility of ROS components to require and/or do something with such information) to model the maximum payload of a manipulator, then the answer would be: no, there is no such support in any of the standard tools/nodes/configuration files.

That doesn't prevent you from setting a parameter that encodes that information though. And then use it in your own nodes.