Hello.
Can you please inform me if I can do torque control on the joint level of the Dobot CR10A and CR7A with ROS2 humble/Jazzy? The documentation is not very clear to me.
Here is the link to the products:
Best,
Vitor
Hi Vitor,
Based on DOBOT’s public ROS2/TCP-IP interface, you can read joint torque-related feedback, but joint-level torque commanding (true “effort control” per joint) is not clearly exposed/documented as a supported external control mode. In practice, the ROS2 drivers are typically used for joint/cartesian position/trajectory control, not torque control.
If your requirement is specifically “can I send joint torque commands (Nm) from ROS2 Humble/Jazzy to CR7A/CR10A?”, we can ask DOBOT directly to confirm whether they officially support an external torque command API/driver for these models (and which ROS2 distros they validate).
Best regards,