reading_torque

[MiroslavKohut]

Hi

I am currently working with schunk lwa4p and this package is really helpful. I would like to read torques and map them to the efforts values in joint_states topic. I edited arm_driver.yaml and added line
eff_from_device: "obj6077"

I am getting values from -500 to 500 and I do not understand in what unit are these values. I also read that this could be the currents of motors.If it is true and the values are currents Is there any documentation where I can find motor constat for commuting the torques ? Can you help me to understand what kind of data I am getting from device

Thank you for your time and help. I also really appreciate your work.