Effort controller feature ?

[m0rph03nix]

This is a feature request.

Is it planned to implement ros effort controller ?

For the moment I use directly the rtde driver in order to use forceMode

I'm eager to use your official ROS driver once this feature will be implemented

Or is there a workaround to stop a movement (without polyscope error) with your driver ?

Thanks

[firesurfer]

You might want to take a look at: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/tree/ros2

[urrsk]

@m0rph03nix not currently. But we are in the progress of add support for ForceMode, please see PR #579