From a real-time controller, I can access joint positions and motor current. How would I access wrist accelerometer data and Force-Torque data in a real-time way. I will not be able to subscribe to the topics that publish those sensors from the real-time loop.

My guess is that I have to modify the ethercat driver here: https://github.com/PR2/pr2_ethercat_drivers/blob/master/ethercat_hardware/src/wg06.cpp so that the force/torque and acceleration measurements are available not only through the topic.

I am trying to follow the pathway from encoder counts, to joint position, through pr2_mechanism_model, since joint positions are accessible from the real-time loop, and use that as an example of how I'd use the sensors.

I realize I can design a non-real-time control loop that subscribes to any topic.