Read/Write Torque in a Joint

Hi, I have to implement a YARP interface in order to permit Joint Torque Control. Actually I don't understand which class and method I have to use in GAZEBO to do this. I am trying different things combining JointPtr and JointCmd but I do not understand from which I can take the torque that the joint is providing and from which I can set a reference torque. Any suggestion? Thank you

Enrico

Asked by Enrico Mingo on 2013-11-04 13:03:31 UTC

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Answers

No one has the same issue?

Asked by Enrico Mingo on 2013-11-05 06:02:16 UTC

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The tutorial Controlling a Mobile Robot shows how to set the torque for joints in a model plugin with gazebo::physics::Joint::SetForce().

Asked by glinde on 2013-11-05 23:48:55 UTC

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Thankyou, I have solved in this way :).

Asked by Enrico Mingo on 2013-11-06 06:27:46 UTC

Hello, I have the same problem, but the tutorial link in the answer has been removed! I cannot find a tutorial that explains how to control joint torques in a gazebo model using gazebo plugins. Someone can help?

Asked by Marco Ursumando on 2015-06-22 15:26:44 UTC

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@glinde is right but the link is invalid. I have found another link of a related source file. Read this: ElevatorPlugin.cc. Try to use SetForce() method. Hope it helps. BTW, Gazebo source file is a good reference for studying Gazebo.

Asked by winston on 2015-06-23 06:30:53 UTC