how to read wheel torque with force torque sensor

asked 2019-10-22 12:39:37 -0500

rakuwaku gravatar image

I am modeling wheels as a joint, which gets read by the force torque sensor plugin. The wheel spins on the Z axis of the wheel frame so I expected to read torque on the X axis.

But, when I try to apply effort with /gazebo/apply_joint_effort, the wheel moves but the sensor reads almost nothing.

Does the force torque sensor not read the torque applied to the wheels?

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