Add joint torques instead of current in UR ros2 hardware interface

[parsabakhshandeh]

Currently, the UR hardware interface fills the effort interface with the "actual current" from rtde data package. Following this discussion, it seems there is a method to get the joint torque compensated by friction and gravity using get_joint_torque. Is it possible to use this method inside the ros2 driver?

This would be very useful, as the alternative method to obtain joint torques involves converting the actual motor current using the torque constant and then subtracting the effects of friction and gravity — which also requires developing a friction model.

[urfeex]

We are currently working on implementing that.

[parsa25b]

Hi Felix, Just wondering if there is any update for this. Alternatively would I be able to get the torque constants of the UR5/7e actuators so that I can convert myself?

[urfeex]

@parsa25b #1551 should work with a recent PolyScope software version.