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PR2 / pr2_controllers

The controllers that run in realtime on the PR2 and supporting packages.
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add effort values in joint_trajectory_action_controller/state #397

Closed knorth55 closed 4 years ago

knorth55 commented 4 years ago

I add effort value in robot_mechanism_controllers/JointTrajcrotyActionController. with this PR, you can get desired and actual effort of PR2 robot by subscribing /r_arm_controller/state. pr2_effort

@AnneKoepken you can collect desired and actual effort with this PR. this PR is already installed and under testing in PR1040 in JSK. cc. @pazeshun @k-okada @YutoUchimi @Affonso-Gui