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I was not able to apply advanced forced control in ROS since these features were not available. I tried the abovemention

For my project, an UR5e needs to follow a spline. At the end of the spline is needs to move into a certain direction with a constant force. The spline is succesfully executed using the cartesian path planning in moveit. It is still a bit bumpy, but a least it works. However, I am struggling with the constant force part. As far as I know moveit has no implementation of force control. The ur_rtde library (see forcemode https://sdurobotics.gitlab.io/ur_rtde...) has a built in function for this, but this means that I cannot use moveit anymore (including the collision detection) since moveit requires external control on the teach pendant. Is there anybody that has experience using moveit and force control on an UR5e robot?

I am using ROS melodic on ubuntu 18.04 with the universal robot ros driver (https://github.com/UniversalRobots/Un... (kinetic-devel).

Thank you for the quick answer. I did not know about the dashboard server, definitely going to try that this week. The

Force control on UR5e using moveit For my project, an UR5e needs to follow a spline. At the end of the spline is needs t