Force control of UR10e in gazebo based on Modern Robotics
Modern Robotics c++ library
https://github.com/Le0nX/ModernRoboticsCpp
Clone it to your home directory and follow the installation instructions.
(By default, gazebo is in a paused state.)
roslaunch ur10e_description gravity_gazebo.launch
(By default, gazebo is in a paused state.)
When a target joint position command and required time are sent, the trajectory and torque to the target position are generated.
roslaunch ur10e_description gazebo_force_control.launch
rosrun ur10e_force_control force_command 0 -1 0 0 0 0 5