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Gazebo 7.0: Recommended way to get torque applied to a joint by the environment (joint effort feedback) via Gazebo API?

What is the recommended way to get torque applied to a joint by the environment via Gazebo API? I'm using Gazebo 7.0 (from ROS Kinetic Installation).

We tried doing something similar to the Toint Force/Torque sensor: https://bitbucket.org/osrf/gazebo/src/default/gazebo/sensors/ForceTorqueSensor.cc

but ran into 2 issues:

  • JointWrench torque values must be transformed from original link orientation to current link orientation [fixed]
  • Extremely noisy force/torque data

John Hsu suggest low-passing the JointWrench data here (<-- we'll try this):
http://answers.gazebosim.org/question/1523/drcsim-simulated-force-measurements-in-wrong-coordinates/#1952


However, that post was from 2013, so I'm wondering if there is now a better/accepted method for collecting this kind of information.

Use: A joint motor Plugin that support effort commands/feedback.

Gazebo 7.0: Recommended way to get torque applied to a joint by the environment (joint effort feedback) via Gazebo API?

What is the recommended way to get torque applied to a joint by the environment via Gazebo API? I'm using Gazebo 7.0 (from ROS Kinetic Installation).

We tried doing something similar to the Toint Joint Force/Torque sensor: https://bitbucket.org/osrf/gazebo/src/default/gazebo/sensors/ForceTorqueSensor.cc

but ran into 2 issues:

  • JointWrench torque values must be transformed from original link orientation to current link orientation [fixed]
  • Extremely noisy force/torque data

John Hsu suggest low-passing the JointWrench data here (<-- we'll try this):
http://answers.gazebosim.org/question/1523/drcsim-simulated-force-measurements-in-wrong-coordinates/#1952


However, that post was from 2013, so I'm wondering if there is now a better/accepted method for collecting this kind of information.

Use: A joint motor Plugin that support effort commands/feedback.

Gazebo 7.0: Recommended way to get torque applied to a joint by the environment (joint effort feedback) via Gazebo API?

What is the recommended way to get torque applied to a joint by the environment via Gazebo API? I'm using Gazebo 7.0 (from ROS Kinetic Installation).

We tried doing something similar to the Joint Force/Torque sensor: https://bitbucket.org/osrf/gazebo/src/default/gazebo/sensors/ForceTorqueSensor.cc

but ran into 2 issues:

  • JointWrench torque values must be transformed from original link orientation to current link orientation [fixed]
  • Extremely noisy force/torque data

John Hsu suggest low-passing the JointWrench data here (<-- we'll try this):
http://answers.gazebosim.org/question/1523/drcsim-simulated-force-measurements-in-wrong-coordinates/#1952


However, that post was from 2013, so I'm wondering if there is now a better/accepted method for collecting this kind of information.

Use: A joint motor Plugin that support effort commands/feedback.


Edit: I've found that are a number of issues discussing ?problems? with joint torque sensing in Gazebo:
- https://bitbucket.org/osrf/gazebo/issues/1321/proper-joint-torque-feedback