how get torque of each joint during move in ROS ?
hi ! how get torque of each joint during move in ROS ?
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hi ! how get torque of each joint during move in ROS ?
There is the plugin ft_sensor. Here's the snippet in my urdf file:
<xacro:macro name="sensor_force_torque" params="joint_name topic_name">
<gazebo>
<plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
<updateRate>100.0</updateRate>
<topicName>${topic_name}</topicName>
<jointName>${joint_name}</jointName>
</plugin>
</gazebo>
</xacro:macro>
That's a macro so for creating instances it would be:
<xacro:sensor_force_torque joint_name="leg_1_joint_1" topic_name="robot/leg_1_joint_ft_1"/>
I do get readings but I have not evaluated them properly but should give you a head start.
Asked: 2016-09-21 02:24:21 -0500
Seen: 448 times
Last updated: Sep 21 '16