How to get the force applied to a link?

asked 2018-01-09 16:50:16 -0500

schulze_18 gravatar image

updated 2018-01-09 16:51:13 -0500

Hello everyone,

I trying to control a quadrotor in gazebo but I'm having some trouble. I'm able to control the velocity of each rotors using a PID+SetForce(), but the quadrotor doens't take off. So, I want to monitor the resulting force applied to the base link of the quadrotor to find the problem, if it doens't fly because I didnt apply a control yet or because the rotors are rotating without applying any force to the body of the quadrotor.

How can I get the resulting force applied to the base link?

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