Closed jlarraez closed 6 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.
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.
this question is sufficiently answered close due to inactivity
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..