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
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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.
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