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Force Torque Sensor Broadcaster

Broadcaster of messages from force/torque state interfaces of a robot or sensor. The published message type is geometry_msgs/msg/WrenchStamped.

The controller is a wrapper around ForceTorqueSensor semantic component (see controller_interface package).


The interfaces can be defined in two ways, using sensor_name or interface_names parameter. Those two parameters can not be defined at the same time

frame_id (mandatory)

Frame in which the output message will be published.

sensor_name (optional)

Defines sensor name used as prefix for its interfaces. If used standard interface names for a 6D FTS will be used: <sensor_name>/force.x, …, <sensor_name>/torque.z.

interface_names.[force|torque].[x|y|z] (optional)

Defines custom, per axis interface names. This is used if different prefixes, i.e., sensor name, or non-standard interface names are used. It is sufficient that only one interface_name is defined. This enables broadcaster use for force sensing cells with less then six measuring axes. Example definition is:

    x: example_name/example_interface