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
The tutorial Controlling a Mobile Robot shows how to set the torque for joints in a model plugin with gazebo::physics::Joint::SetForce().
@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.
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: 2013-11-04 12:03:31 -0600
Seen: 8,268 times
Last updated: Jun 23 '15
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