Closed Dirodgu closed 5 years ago
We currently publish joint motor currents in the effort
field of the JointState messages (here).
This data comes from the controller over the real-time interface, which only includes the I_actual
field. There is no M_actual
field corresponding to M_target
.
There is no analogue to the get_joint_torques()
urscript function in that datastream afaict, so we cannot publish it.
Closing as it's not an actionable issue at the moment.
Edit: feel free to keep commenting on it of course.
Thank you for your explanation!
Hi everyone, I'm not sure if this is the place to ask this question but I think it is. Using
ur_modern_driver
can you read the current or the torque of all the joints?. I know that ther are UR Script functions in order to do that, but my question is if there is already a topic that publish it when you launchur_modern_driver ur10e_bringup.launch robot_ip:=[ROBOT_IP]
or do I have to do it by myself writing my own ROS node?