can I add forces to the haptic device with a lock ?

edit

Hello,

I used the package in this link //github.com/danepowell/phantom_omni and I changed in the source code the following in line 91 : from

state->lock = false;

to

state->lock = true;

I change this because I want the stylus to get back to its origin.

I was able to publish data using this package.

This package subscribe for force_feedback, I published to this topic a force from another package. the problem is that I cant feel the force unless the lock is false ??

I want to feel the force while the lock is true, how can I do that ? ( I want the stylus to get back to the origin)