Where effort joint values come from

asked 2018-10-29 01:44:46 -0600

JonathanAI gravatar image

Dear all,

When I subscribe to the topic /joint_states I get the name of the joints, the angular positions of these joints and the current effort values. I assume that the effort values are in M.m, but my question is, where these effort values come from? The effort values should depend on the force and torque values of the parent and the child link of a joint. Torque and forces are denoted by 3D vectors (x,y,z), in N.m as well. So how can I get these effort values if I have the 3D force and torque vectors of the parent and child links?

Thank you!!!

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Comments

It doesn't matter for the more fundamental question, but can you please give a bit of context? Are you referring to a specific /joint_states topic (ie: published by a specific driver)?

gvdhoorn gravatar imagegvdhoorn ( 2018-10-29 03:12:29 -0600 )edit

Yes exactly. For example: rostopic echo /joint_states or for any specific group like rostopic echo /left_arm/joint_states.

Thank you

JonathanAI gravatar imageJonathanAI ( 2018-10-30 22:49:20 -0600 )edit

left_arm? Are you using a baxter?

Please provide a bit more context.

gvdhoorn gravatar imagegvdhoorn ( 2018-10-31 03:27:14 -0600 )edit

No, I am using a Kinova Jaco arm attached to a Kinova Movo base

JonathanAI gravatar imageJonathanAI ( 2018-10-31 17:57:02 -0600 )edit