Hello everyone,

I am working on a project where I want to build a controller for and end effector for pick and place tasks. The object to be picked and placed can be rigid or deformable. To that end, I want to implement force/torque sensors to my end effector. I have researched some methods to do that and have come up with the two following:

The simulation is done in Gazebo. The first method is to include it through Gazebo:

http://gazebosim.org/tutorials?tut=force_torque_sensor&cat=sensors#Applyforcesandtorquesingazebo

I have also seen that in ROS there are packages for force/torque/touch sensors:

http://wiki.ros.org/Sensors#Force.2BAC8-Torque.2BAC8-Touch_Sensors

I have build the manipulator with the end effector with urdf/xacro files. Does anyone have any experiences in implementing force/torque sensors and can give me some tips?

Thank you.