How to get control outputs from ROS_Control?

asked 2018-05-24 10:23:27 -0600

Sahand_Rez gravatar image

updated 2018-05-24 10:24:07 -0600

Hello,

I am working on the Kinova Jaco2 arm. They have provided a ROS package which works with the real arm and the virtual arm in Gazebo. They have also set up the arm in MoveIt! Now I have two questions (the first one is more important to me).

  1. How to get the control outputs (commands) from ros_control? These are basically the joint efforts that are sent either to the actual robot or Gazebo. I looked into the topics and I wasn't able to find a topic with such commands. I want to access these commands on both the actual and virtual robots.

  2. How to get the joint commands (states) from MoveIt! before they are sent to ros_control?

Thank you very much.

Sahand

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