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ros-industrial / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
Apache License 2.0
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UR e-series monitoring #332

Closed Dirodgu closed 5 years ago

Dirodgu commented 5 years ago

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 launch ur_modern_driver ur10e_bringup.launch robot_ip:=[ROBOT_IP] or do I have to do it by myself writing my own ROS node?

gavanderhoorn commented 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.

gavanderhoorn commented 5 years ago

Closing as it's not an actionable issue at the moment.

Edit: feel free to keep commenting on it of course.

Dirodgu commented 5 years ago

Thank you for your explanation!