Force Control using Ros on a Specific Point for multiple Waypoints while using Moveit similar to Force() in UR10e

ROS
1

Hi,

I have been using ROS with Moveit to move UR10e robot using a camera coordinate system to polish/sanding.

I have been able to subscribe to the Force values published by the UR robot. But I have not been able to send coordinates with force to the robot. I wish to send a waypoint using Moveit or similar package in ROS, while applying a certain force for eg maintaining 5NM force through the waypoint mission.

Is there a way I could do it using ROS, Teach Pendant or script? Please help.

Thanks!