Apply force to a joint with Ros?

asked 2017-10-25 07:23:38 -0500

Baumboon gravatar image

Hello Guys,

is it possible to apply a force to an joint with Ros?

I created an arm and before i start with ros joint controller i want to try something easier.

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Yes, the easiest way to do that (to my knowledge) would be to write a brief joint plugin which you can then send commands to via ROS

josephcoombe gravatar imagejosephcoombe ( 2017-10-25 13:50:57 -0500 )edit

can i do this like they describe it in :

Baumboon gravatar imageBaumboon ( 2017-10-26 05:04:37 -0500 )edit

^ Yes, that's what you want to do.

josephcoombe gravatar imagejosephcoombe ( 2017-10-26 18:09:04 -0500 )edit

there is also the ~/apply_joint_effort ros service mentioned in the ROS communication tutorial, though I've not tried it before:

iche033 gravatar imageiche033 ( 2017-10-30 18:16:25 -0500 )edit