use gz-physics#283 to implement joint_states/effort feedback #186
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ahcorde
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Oct 9, 2023
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I tried it and it works properly, couldn't find any problems |
christophfroehlich
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Fixes
joint_states/effortbeing zero for joints with<state_interface name="effort" />in combination withjoint_state_broadcaster/JointStateBroadcasterby using theJointTransmittedWrenchcomponent introduced by gazebosim/gz-physics#283.The joint axis is hard coded to
z. I did not yet look into reading out the actual<axis>of the joint and extracting the respective force/torque component of the wrench.