Receive Joint efforts for ABB Yumi
Hello, I'm controlling the ABB Yumi IR14000 Robot using MATLAB through ROS. I used the ABB driver option and apparently there's no rostopic that allows to receive data about the joint effort. Is it possible to receive that kind of information using the RWS option? Is there another possible way to get the data?
I have the ABB and RWS drivers from a GitHub KTH package. KTH package info: https://github.com/kth-ros-pkg/yumi/w...
What is "the RWS driver"?
Sorry, it isn't a proper driver, is a robot web interface, it offers some different rostopics compared to the normal abb driver.
Can you refer to a specific package? The "RWS" I know is an ABB technology / RobotWare option, not a ROS component.
https://github.com/kth-ros-pkg/yumi/w... ; https://github.com/kth-ros-pkg/yumi/w...
At the second link, the three possible interfaces to communicate with the robot are described. Maybe as you say it's an ABB option, I've to admit I'm not so expert about it.
RWS there is the ABB technology / RobotWare option. It's not a ROS driver or component.
Thanks to notify the mistake, I will correct it in the question. Do you know if it's possible using that option it's possible to receive data about joint efforts?
You'd have to check the documentation for RWS I would say. A quick Google of the RWS documentation doesn't seem to indicate that joint effort is made available.
Do you have any idea about different ways to get it? (Currently I don't have the possibility of the EGM) For example in the past I used some rostopics from the standard ABB driver option, the topic's name was: /joint_states or /left_arm/joint_states but the field related to the effort was empty