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RobotnikAutomation / summit_xl_common

URDF description of the Summit XL and Summit XL HL, platform messages and other files for simulation.
BSD 2-Clause "Simplified" License
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Robot movement using Effort Controllers / control using torques #6

Open acxz opened 5 years ago

acxz commented 5 years ago

Hello, I have recently started working on a project with a Summit-X vehicle. We would like to control the robot with torque controls on the wheels. I understand how to send velocity commands to the wheels, but we would like to have control over the torques.

Is there a specific rostopic that I need to publish on in order to achieve torque control? I have tried to locate it, but I am at a loss. If anyone can show me how to move the robot using torque controls instead of velocity controls it would be much appreciated.

RomanRobotnik commented 5 years ago

Hi,

Currently the torque control is not available. To do this it would be necessary to modify the motor controller configuration and the ROS library that interacts with them.

acxz commented 5 years ago

Are there any plans for torque control? If you could point me to any tutorials or examples that would allow me to get up to speed with this topic, then I would love to implement torque control on the robot. I know EffortJointControllers are possible.