knowing current stiffness of the robot about nao_robot HOT 5 CLOSED

I have considered adding this myself as well.
But does it not belong in naoqi_bridge/naoqi_driver? (naoqi_joint_stiffness.py/cpp perhaps?)
That way it is available to all robots.

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Yes, that's nice direction, and I found that current naoqi_joint_states.py is not just publish joint_states, but also publish imu or other topics, so I added to publish joint_stiffness too

see ros-naoqi/naoqi_bridge#23

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Just a few comments on that:

If I understood your idea, then it ought to be inside naoqi_bridge. The idea of this package would be to provide robot agnostic features and packages which can be freely configured per robot using rosparams.

Regarding joint_states.py, it publishes joint_states, TF, odom and IMU. I would prefer if we could incorporate the joint_stiffness into the effort component of the joint_states topic since it's a fraction of the motor's maximal current.
At the same time we could extract the IMU into a dedicated node to keep it clean.

any ideas on that?

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We have moved to naoqi_bridge, se the linked pr (this could probably be closed).
Note that the original pr only conserned the stiffness of the joints, not the applied effort.
In this case, stiffness (ALMotionProxy::get/set-Stiffness) is the maximum current allowed for a specific joint. I dont think we want stiffness in the joint_states topic, but rather the torque derived from the electric current value from naoqi.

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moving to naoqi_bridge as mentioned above

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