How to get state of JointEffortController

asked 2015-10-21 06:47:37 -0600

Blizzard gravatar image

Hello,

how can i get the current direction of rotation of a revolute joint when using an EffortJointInterface and a effort_controllers::JointEffortController?

I'd like to model a mechanical brake and therefore need to know the direction of rotation to apply the brake moment in the opposite direction.

Any help would be appreciated

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