As far as I understand there are two main ways to do force control:
- Using the gazebo service /gazebo/apply_joint_effort
- Directly publishing in the /joint_states topic the desired effort
The first option does not allow me to send the effort of multiple joints in one message so I need to make a call of the service for every joint.
I tried to use the second option but /gazebo is subscribe to the /joint_states topic and has preference in publishing messages since my messages are being ignored.
Is it possible to overcome this issue to be able to use the /joint_states topic to send effort commands?