Hi, can I read the values of the current or of contact force and decide to stop the hand if it touches an object?
Originally posted by Alba on ROS Answers with karma: 20 on 2015-04-28
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1 Answer
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~CHANNEL_NAME/current_controller (vector of floats, default: see yaml files)
Parameters used for the hardware current controller. See additional documentation in YAML files and below. If no values are provides the current will use safe internal defaults.
Originally posted by inflo with karma: 406 on 2015-04-28
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Original comments
Comment by Alba on 2015-04-28:
I used the values in Yaml file but they are the parameters used to control. I want to read the current value of current/force. Is it possible?
Comment by inflo on 2015-04-28:
seemed that reading the actual current value is not possible, best would be a topic, but there is none
Comment by inflo on 2015-04-28:
perhaps you can get the svh firmware and add a topic publisher which publishes these values