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I use following plugin for controlling joints. https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_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 if GetForce is always zero.

When I send torque command by SetForce function, I can get correct joint torque by SetForce.

I use following plugin for controlling joints. https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_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 if of GetForce is always zero.

When I send torque command by SetForce function, I can get correct joint torque by SetForce.

I use following plugin for controlling joints. https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_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 SetForce.GetForce.