Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Gazebo effort_controller torque telemetry?

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

mugetsu
195 ●38 ●44 ●55

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.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

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

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

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.

edit flag offensive delete link

Comments

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

add a comment

Question Tools

1 follower

Stats

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

Seen: 292 times

Last updated: Jan 22 '20

Gazebo effort_controller torque telemetry? edit

1 Answer

Comments

Question Tools

Stats

Related questions

Gazebo effort_controller torque telemetry?