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?

asked 2019-05-16 07:26:03 -0500

harshitha gravatar image

I'd prefer not using the Dynamics of the system. I started out a 2DoF planar Arm to reduce complication.

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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?

gvdhoorn gravatar imagegvdhoorn ( 2019-05-16 08:09:16 -0500 )edit

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.

harshitha gravatar imageharshitha ( 2019-05-16 09:43:57 -0500 )edit

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

RViz is just a visualisation tool, not a simulator, so that would seem to be expected.

gvdhoorn gravatar imagegvdhoorn ( 2019-05-16 10:29:37 -0500 )edit

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.

harshitha gravatar imageharshitha ( 2019-05-16 11:55:51 -0500 )edit