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| def set_torque_enable(self, torque_enable): | ||
| mcv = (self.motor_id, torque_enable) | ||
| self.dxl_io.set_multi_torque_enabled([mcv]) | ||
| self.dxl_io.set_multi_torque_enabled([mcv]) |
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| def process_command(self, msg): | ||
| self.set_speed(msg.data) | ||
| self.set_goal_torque(msg.data) |
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Looks like this is a feature, not a bug.
Step 4 of the torque mode tutorial clearly states To actually move the motor we need to publish a desired velocity to /pan_controller/command (the keyword being velocity).
Moreover this change breaks compatibility for existing users: it is probably safer to change the name of this controller from torque to velocity and add a new one that really controls the torque.
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Torque controller was using the function set_speed, instead of set_goal_torque.