Difference between current of the motor on teach Pendant screen and /joint_states values (Effort)? #661
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MohamedOmar2014
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Did you check the order of the joints in the |
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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
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