Hello, my team is designing a low-level controller that utilizes the robot’s dynamic. where the control input would be the acceleration of the robot and the torque in the z-axis, is it possible to do it in the real system or gazebo simulator?
Hello @Richie_Ryulie,
There is no way to control torque in ROSbot, it would require writing and uploading your own firmware. As for simulation, it’s probably possible, but I’ve never tried it and it’s hard for me to advise anything here.
Regards