ros-industrial / universal_robot

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)

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Difference between current of the motor on teach Pendant screen and /joint_states values (Effort)?

MohamedOmar2014 opened this issue · comments

commented

I'm working on a real UR10 robot and I concern measuring the current of motor for further analysis of the motor torqe because i cant get it directly. I noticed that their is difference between current values on teach pendant screen and the values from the joint_states topic for a given configuration of the robot as shown in the following photos.
The current values (joint_states): -4.1294 -9.2880 -0.1740 -0.4531 0.2624 -0.0493
The current values (Screen): 0.2 9.3 3.9 0.5 0.2 0
It seems that in the joint_states, the current value of joint 1 is replaced with current value of joint 3 because the current value of joint 3 has to be bigger based on the robot configuration.

Is that right or their is something missing?
thanks in advance

Weixin Image_20230828211314
Weixin Image_20230828211320
Weixin Image_20230828211302

Did you check the order of the joints in the name field of the JointState message? This should be consistent with the order of the positions/velocities/efforts and you cannot rely on the order of those fields not changing.