Trajectory controller with gravity compensation or variable static friction compensation

[VahidAminZ]

If gravity compensation (using KDL for example) or variable static friction is required, currently there is no way of adding the output of such compensator to the joint command. It would be nice to make it possible to use different hardware interface adapters to be able to achieve this.

[bmagyar]

Could you elaborate on this please? At the end of the day, the interpretation of joint interfaces is the choice of the person who implements the RobotHW for your robot. I've seen the EffortJointInterface used to carry current commands many times on robots where that was the closest available relative of torque.