Robot movement using Effort Controllers / control using torques

[acxz]

Hello, I have recently started working on a project with a Summit-X vehicle. We would like to control the robot with torque controls on the wheels. I understand how to send velocity commands to the wheels, but we would like to have control over the torques.

Is there a specific rostopic that I need to publish on in order to achieve torque control? I have tried to locate it, but I am at a loss. If anyone can show me how to move the robot using torque controls instead of velocity controls it would be much appreciated.

[RomanRobotnik]

Hi,

Currently the torque control is not available. To do this it would be necessary to modify the motor controller configuration and the ROS library that interacts with them.

[acxz]

Are there any plans for torque control? If you could point me to any tutorials or examples that would allow me to get up to speed with this topic, then I would love to implement torque control on the robot. I know EffortJointControllers are possible.