Hi all,

i have an URDF specified where i can control a robot in Gazebo, actuating and reading joint states works fine. Now i want to read the sensor data from an IMU and a contact sensor, preferably i want to define a hardware interface instead of just publishing the values the plugin.

The code for the contact sensor is

<gazebo reference="${prefix}_leg_outer">
    <mu1> 1.0 </mu1>
    <mu2> 1.0 </mu2>

  <sensor name='${prefix}_contact_sensor' type='contact'>
      <contact>
        <collision>${prefix}_leg_outer_collision_2</collision>
  </contact>
  <update_rate> 1000 </update_rate>

  <plugin name="${prefix}_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>1000</updateRate>
    <bumperTopicName>${prefix}_bumper</bumperTopicName>
    <frameName>${prefix}_leg_outer_collision_2</frameName>
    <hardwareInterface>ForceTorqueSensorInterface</hardwareInterface> <-- Probably wrong
  </plugin>

    </sensor>
</gazebo>

I try to load the controller in a yaml config and start it via a launch file, same as the other controller. I am guessing my error must be somewhere in the urdf. Has anybody any insight on how to the define the hardware interfaces in urdf for the force torque sensor or the IMU sensor? I haven't found any examples using these hardware interfaces. Idealy i want to get the sensor data via these interfaces from gazebo. I can get them published as ros topics already, but i think the way to go is to have a hardware interface for the sensors as well.

Thanks for the help.

This controller requires a hardware interface of type 'hardware_interface::ImuSensorInterface'. Make sure this is registered in the hardware_interface::RobotHW class.
[ERROR] [1571710623.832441259]: Initializing controller 'imu_sensor_controller' failed