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(); } }