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2015-06-22 03:22:48 -0600 commented answer Cannnot get joint torque while setting velocity command for joints

Thank you. It worked.

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2015-06-22 03:21:45 -0600 commented answer Cannnot get joint torque while setting velocity command for joints

GetForceTorque works well. Thank you!

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2014-09-03 23:38:46 -0600 asked a question 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.