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Joint Torque Control for Universal Robot

Hi All.

I’m wondering is there anybody who has tried to do a joint torque control (i.e. effort_controllers of the ros_control package) for the Universal Robot? I believe I could implement the controller for the robot’s model in Gazebo. However, I’m not sure how to combine the real robot with the ros_control package. I tried to find the solution online, however, most of the sources deal only with the trajectory controller via MoveIt.

Any help will be much appreciated.

Best regards,
Ataka

Could you please ask this sort of question over at ROS Answers as is explained in the support guidelines? If you repost there, I’ll answer it.