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Gazebo effort_controller torque telemetry?

asked 2020-01-22 12:02:16 -0500

mugetsu gravatar image

Tried asking this on the gazebo answer forum, but there seems to be way less traffic there.

I am using an effort_controller/velocity_controller, so I input a velocity and get an effort output to a wheel. This is all a black box to me and I have no idea how this works. I'd like to visualize the effort that's being generated.

Is this possible? I tried putting a torque sensor on the wheel joint and it wouldnt read anything.

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answered 2020-01-22 13:45:12 -0500

gvdhoorn gravatar image

Afaik, all ros_control controllers periodically publish their internal state to a private state topic.

The code which does that for effort_controllers/JointVelocityController is here.

Subscribing to that topic should get you messages of type control_msgs::JointControllerState, which includes the command field which seems to be what you are after:

# Current output of the controller.
float64 command

See #q323036 for a related question.

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Note: this gets you access to the internal state of the controller. What happens to the command after it is written to the JointCommandHandle is something else (ie: what Gazebo does with it).

gvdhoorn gravatar image gvdhoorn  ( 2020-01-22 14:38:59 -0500 )edit

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Asked: 2020-01-22 12:02:16 -0500

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Last updated: Jan 22 '20