How can I get the target torque and current for UR10 robot?

[MohamedOmar2014]

(ROS neotic+ubuntu 20.04) I'm trying to get the target torque and current for each joint of the robot. I added target_current and target_moment to rtde_output_recipe.txt but I don't know how can I access it through /joint_states topic or any other way. Any help??

I did that based on the following:

• To make use of #35 you can try to checkout that branch and add the joint currents or target_moment fields to the output recipe file. This is currently a feature in development, so sorry that there isn't a ton of documentation there, yet. @fmauch

[fmauch]

Yes, that would have been the suggestion I would have done. #35 comes closest to what you want to achieve. As you can see in the discussion there, this has never settled to an agreement and never was followed up.