How to use ft_sensor plugin in ROS-Noetic?
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 libforce_torque_sensor_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.
Did you know the solution? I also have such an issue.