Wrong Document about ROS 2 Velocity Control

I refer below document and try to control velocity joints in the robot.
But I cannot control them.
https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_manipulation.html#position-and-velocity-control-modes

How can I control the velocity joint via ROS 2?

I could control the velocity joint by using ROS 2 Generic Subscriber instead to ROS 2 Subscribe Joint State.

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