Open Soil-L opened 8 months ago
- When you say joint status, do you mean the joint angle between the starting point and the end point of the trajectory?
- Zero force functionality is not currently provided in ROS
Thank you for your quick reply!
- In fact, you can see the joint radian position_tmp1 and position_tmp2 from the read_update function in elfin_ros_control/src/elfin_hardware_interface.cpp. You can customize a topic to publish it.
- We are developing another control mode to implement. This mode will be quite different from the current ROS package and will not be completed as soon.
hello, I am doing some control research using elfin3. I want to periodically get the state of joint(not state of encoder) and end. And i also also want to freely change the pos of the arm with no need to turn zero-gravity mode by demonstrator. But i cannot find the api i want in api_description.md. Now i use some api of moveit to get states, but i think getting state from basic_api will be more convient. So, i wandering that is there any API provided to 1.get joint states and end states? 2.turn on zero-gravity mode