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).

Parameters

This controller uses the generate_parameter_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller.

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

Full list of parameters:

An example parameter file for this controller can be found in the test directory: