use gz-physics#283 to implement joint_states/effort feedback (backport #186)#430
Merged
use gz-physics#283 to implement joint_states/effort feedback (backport #186)#430
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(cherry picked from commit cc66e73)
ahcorde
approved these changes
Oct 28, 2024
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Fixes
joint_states/effortbeing zero for joints with<state_interface name="effort" />in combination withjoint_state_broadcaster/JointStateBroadcasterby using theJointTransmittedWrenchcomponent introduced by gazebosim/gz-physics#283.The joint axis is hard coded to
z. I did not yet look into reading out the actual<axis>of the joint and extracting the respective force/torque component of the wrench.This is an automatic backport of pull request #186 done by Mergify.