Getting real time torque values from Rviz during move execution
I'm using Rviz to analyse the dynamics of a 6 DOF robotic arm model (UR5 from the ros industrial repos).
I want to obtain real-time dynamic torque values for all joints while executing a Planned move(Motion Planning -> Planning).
As of now, I'm able to simulate the motion by selecting the start and end states. I am also able to obtain static torque values for any given state through the onscreen display of torque values(Displays -> MotionPlanning -> Planning Metrics -> Show Joint Torques). But, while executing a move, these torque values don't update dynamically.
I primarily want to know of torques due to the acceleration of the joints when executing a particular move. Is there any way to get these torque values on Rviz, or maybe even through Moveit via code?
Just a note: RViz is not a (dynamic) simulator. The values you are referring to are calculated by the MoveIt RViz plugin, and are based entirely on the contents of the URDF that is loaded at that time. Rarely do URDFs contain the necessary info to make those values anywhere near accurate.
Could you suggest any way to get dynamic values from the URDF/SDF? I'm OK with the accuracy for now.
You mention
SDFhere, which is the format used by Gazebo, which is a dynamics simulator. Perhaps unnecessary, but please understand that RViz != Gazebo. If you meant SRDF, then that is a format used by MoveIt.