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RobotnikAutomation / summit_xl_sim

Packages for the simulation of the Summit XL, Summit XL HL and Summit-X (including X-WAM) robots
BSD 2-Clause "Simplified" License
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How to move the robot with torques? #19

Closed acxz closed 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.

acxz commented 5 years ago

Closing this topic, since discussion is ongoing at summit_xl_common.