Cannnot get joint torque while setting velocity command for joints
I use following plugin for controlling joints. https://github.com/start-jsk/rtmrosgazebo/blob/master/hrpsysgazebo_general/src/IOBPlugin.cpp
I'm sending velocity command to joint by SetVelocity function, and trying to get joint torque by GetForce function, but return value of GetForce is always zero.
When I send torque command by SetForce function, I can get correct joint torque by GetForce.
Related question http://answers.ros.org/question/201068/gazebo-joints-getforce-returns-zero-when-used-in-conjunction-with-setmaxforce-and-setvelocity/
I posted the question referred above, but hasn't received a response yet. Has anyone found a way around this problem?