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(Hopefully) you shouldn't need to implement your own force-torque sensor for Sawyer in Gazebo. The sawyer_gazebo package actually simulates the torque values being experienced by each joint in the arm directly. You can see each of these torques on the topic /robot/joint_states. A force-torque sensor is usually used to measure the force experienced at the end effector of the robot. Part of the simulation is a handy topic that reports all of these joint torques trasnformed into the endpoint frame on the /robot/limb/right/endpoint_state topic using the intera_core_msgs/EndpointState message.

The following is the RViz rendering of the effort portion of the /robot/joint_states topic: C:\fakepath\sawyer_torques_in_gazebo.png

(Hopefully) you shouldn't need to implement your own force-torque sensor for Sawyer in Gazebo. The sawyer_gazebo package actually simulates the torque values being experienced by each joint in the arm directly. You can see each of these torques on the topic /robot/joint_states. A force-torque sensor is usually used to measure the force experienced at the end effector of the robot. Part of the simulation is a handy topic that reports all of these joint torques trasnformed into the endpoint frame on the /robot/limb/right/endpoint_state topic using the intera_core_msgs/EndpointState message.

The following is the RViz rendering of the effort portion of the /robot/joint_states topic: C:\fakepath\sawyer_torques_in_gazebo.png](/upfiles/15216420697813004.png)

(Hopefully) you shouldn't need to implement your own force-torque sensor for Sawyer in Gazebo. The sawyer_gazebo package actually simulates the torque values being experienced by each joint in the arm directly. You can see each of these torques on the topic /robot/joint_states. A force-torque sensor is usually used to measure the force experienced at the end effector of the robot. Part of the simulation is a handy topic that reports all of these joint torques trasnformed into the endpoint frame on the /robot/limb/right/endpoint_state topic using the intera_core_msgs/EndpointState message.

The following is the RViz rendering of the effort portion of the /robot/joint_states topic: C:\fakepath\sawyer_torques_in_gazebo.png](/upfiles/15216420697813004.png)]

(Hopefully) you shouldn't need to implement your own force-torque sensor for Sawyer in Gazebo. The sawyer_gazebo package actually simulates the torque values being experienced by each joint in the arm directly. You can see each of these torques on the topic /robot/joint_states. A force-torque sensor is usually used to measure the force experienced at the end effector of the robot. Part of the simulation is a handy topic that reports all of these joint torques trasnformed into the endpoint frame on the /robot/limb/right/endpoint_state topic using the intera_core_msgs/EndpointState message.

The following is the RViz rendering of the effort portion of the /robot/joint_states topic: C:\fakepath\sawyer_torques_in_gazebo.png]

(Hopefully) you shouldn't need to implement your own force-torque sensor for Sawyer in Gazebo. The sawyer_gazebo package actually simulates the torque values being experienced by each joint in the arm directly. You can see each of these torques on the topic /robot/joint_states. A force-torque sensor is usually used to measure the force experienced at the end effector of the robot. Part of the simulation is a handy topic that reports all of these joint torques trasnformed into the endpoint frame on the /robot/limb/right/endpoint_state topic using the intera_core_msgs/EndpointState message.

The following is the RViz rendering of the effort portion of the /robot/joint_states topic: C:\fakepath\sawyer_torques_in_gazebo.pngSawyer RViz Torques in Gazebo

(Hopefully) you shouldn't need to implement your own force-torque sensor for Sawyer in Gazebo. The sawyer_gazebo package actually simulates the torque values being experienced by each joint in the arm directly. You can see each of these torques on the topic /robot/joint_states. A force-torque sensor is usually used to measure the force experienced at the end effector of the robot. Part of the simulation is a handy topic that reports all of these joint torques trasnformed into the endpoint frame on the /robot/limb/right/endpoint_state topic using the intera_core_msgs/EndpointState message.

The following is the RViz rendering of the effort portion of the /robot/joint_states topic: Sawyer RViz Torques in Gazebo

(Hopefully) you shouldn't need to implement your own force-torque sensor for Sawyer in Gazebo. The sawyer_gazebo package actually simulates the torque values being experienced by each joint in the arm directly. You can see each of these torques on the topic /robot/joint_states. A force-torque sensor is usually used to measure the force experienced at the end effector of the robot. Part of the simulation is a handy topic that reports all of these joint torques trasnformed are transformed into the endpoint frame on the /robot/limb/right/endpoint_state topic using the intera_core_msgs/EndpointState message.

The following is the RViz rendering of the effort portion of the /robot/joint_states topic: