I am trying to simulate an arm with collaborative control. I added external force using the utility in Gazebo GUI. Is there a way I can visualize the Joint Torque values and provide appropriate reaction?
I'd prefer not using the Dynamics of the system. I started out a 2DoF planar Arm to reduce complication.
Right now this sounds like a pure Gazebo question (which should be asked over at Gazebo Answers). Can you clarify how this is related to ROS?
Yes. But I'm using ros_control to provide a torque feedback and it'll be helpful if I can get real time joint torques published. It looks like it is not a possibility in Rviz so I'm using Gazebo to establish the user interface.
RViz is just a visualisation tool, not a simulator, so that would seem to be expected.
Yes, thank you. I'm new to ROS and Gazebo. I wanted to know if there is a way I could detect an external force to the links on the robot (value and directional information) so that I can provide a reaction to it.