How can I add a FT sensor?

[solid-sinusoid]

At the moment I need to add FT sensor measurement, can I do it like IMU sensor? As I noticed there is no corresponding protobuf message like IMU, is it enough for me to use Wrench? At the moment I'm just exploring the possibilities

Something like this:

class FTData
{
public:
    std::string name{};
    std::string topicName{};
    ignition::gazebo::Entity sim_ft_sensors_ = ignition::gazebo::kNullEntity;
    std::array<double, 6> ft_sensor_data_;
    void OnFT(const ignition::msgs::Wrench & msg);
};

void FTData::OnFT(const ignition::msgs::Wrench & _msg)
{
    this->ft_sensor_data_[0] = _msg.torque().x();
    this->ft_sensor_data_[1] = _msg.torque().y();
    this->ft_sensor_data_[2] = _msg.torque().z();
    this->ft_sensor_data_[3] = _msg.force().x();
    this->ft_sensor_data_[4] = _msg.force().y();
    this->ft_sensor_data_[5] = _msg.force().z();
}

My setup:

• ROS2 Humble
• Ubuntu 22.04
• Gazebo Fortress
• gz_ros2_control from humble branch building from source

[solid-sinusoid]

I would like to add FTS interface like in #13

[solid-sinusoid]

@destogl I would be create a force torque sensor interface as lib as you said but in the main gz_ros2_control node i have a trouble with ClassLoader because it seems to be assumed just have a SystemInterface plugins. You can check my fork if interest. I don't know the best way to do this