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The method of converting velocity to force will be fully dependent on the hardware involved with the robot. Depending on which robot you have there may be a driver already supported that will handle the actual hardware. On the ROS WIKI pages there are lists of robots already supported and on github you will find more with a carefully worded google search. Or possibly you'll have to create your own if you have a custom.

If you're looking for just general example of HW control, you can find code for raspberry pi or arduino that will be very simple and easy to understand (relatively). Finding code for an industrial robot would be difficult I guess and professional code likely much more complicated.