Hello I have a urdf with a ft_sensor plugin attached and which works fine in ros-melodic with ubuntu 18.04. The plugin in the urdf looks like,

  <!-- Gazebo FT sensor plugin -->

  <gazebo reference="wrist_3_joint">
    <provideFeedback>true</provideFeedback>
  </gazebo>
  <gazebo>
    <plugin name="ft_sensor_plugin" filename="libgazebo_ros_ft_sensor.so">
      <updateRate>200</updateRate>
      <topicName>ft_sensor/raw</topicName>
      <gaussianNoise>0.0</gaussianNoise>
      <jointName>wrist_3_joint</jointName>
    </plugin>
  </gazebo>

Now I have switched to ROS - Noetic with Ubuntu 20.04. I referred the path /opt/ros/noetic/lib where I found the file libforcetorquesensor_controller.so. So I modified my plugin as,

  <!-- Gazebo FT sensor plugin -->

  <gazebo reference="wrist_3_joint">
    <provideFeedback>true</provideFeedback>
  </gazebo>
  <gazebo>
    <plugin name="ft_sensor_plugin" filename="libforce_torque_sensor_controller.so">
      <updateRate>200</updateRate>
      <topicName>ft_sensor/raw</topicName>
      <gaussianNoise>0.0</gaussianNoise>
      <jointName>wrist_3_joint</jointName>
    </plugin>
  </gazebo>

but after launch the launch file I cannot see the topic ft_sensor/raw being published. I have no idea what is the issue here. Please provide your suggestion here.