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I have a 7dof arm that I want to simulate, and the experiment requires me to be able to apply torques to the 7 servomotors (actuators) in the simulation. I would like to know how I can set up "actuators" in simulation so that I can apply torques to using a ROS topic.

So far, I have been able to add torque sensors to my URDF and monitor torques using sensor topics, I want to do the exact reverse of this where I can publish to set topics and have the torques be applied to the Gazebo simulation.

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Have a look at the apply joint force example sdf.

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  • $\begingroup$ Did this answer your question? $\endgroup$
    – JRTG
    Commented Aug 29, 2023 at 17:39

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