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The Gazebo force/torque sensor plugin is provided by the package gazebo_plugins in the gazebo_ros_pkgs repository. The plugin library is called gazebo_ros_ft_sensor, which means the file name Gazebo expects is libgazebo_ros_ft_sensor.so. I don't know where libforce_torque_sensor_controller.so comes from, but I'm certain the solution will not involve changing the filename attribute. Change it back to libgazebo_ros_ft_sensor.so.
First, make sure ros-noetic-gazebo-plugins is installed. May as well install all of gazebo_ros_pkgs:
apt install ros-noetic-gazebo-ros-pkgs
Otherwise, if you're using empty_world.launch then set verbose:=true to see what error Gazebo gives.
https://answers.gazebosim.org//question/16560/how-to-use-roslaunch-having-gazebo-on-verbose-mode/ http://gazebosim.org/tutorials/?tut=ros_roslaunch
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