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ipa320 / schunk_robots

www.schunk-modular-robotics.com
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read current from the schunk lwa4p #57

Closed jlarraez closed 6 years ago

jlarraez commented 8 years ago

Hi! I think it can be done after reading the Control_motion.pdf from schunk, however I would want to know if it is actually implemented now somehow as a ros service..

fmessmer commented 8 years ago

Afaik we do not read the current....and we also don't have a usecase for it... But we are always happy to accept new features via a PullRequest.

mathias-luedtke commented 8 years ago

There is no ROS service for it, this would not make any sense for continuously changing data.

You can map the current to efforts in joint_states (http://wiki.ros.org/canopen_motor_node#unit_conversions) or you could publish the corresponding objects on a separate topic (http://wiki.ros.org/canopen_chain_node#ROS_layer). Please note that you have to alter the PDO mappings in the DCF in both cases.

fmessmer commented 6 years ago

this question is sufficiently answered close due to inactivity