public void Read(out string name, out float position, out float velocity, out float effort)
{
name = urdfJoint.JointName;
position = urdfJoint.GetPosition();
velocity = urdfJoint.GetVelocity();
// Only ask for command effort from ROS if JointCommandWriter is an attached component and if it is currently writer commands
if (haveCommandWriter && jointCommandWriter.isWritingCommands)
{
effort = urdfJoint.GetCmdEffort();
}
else
{
effort = urdfJoint.GetEffort();
}
}
