Miscelaneous sensors » ftsens-genom3

Hi Anthony,

The problem that I have is that I need to simulate a F/T sensor. Currently I added a sensor plugin to one of the joints:

<joint name="fixed-joint" type="fixed">
      <parent>parent_link</parent>
      <child>child_link</child>
      <sensor name="force_torque" type="force_torque">
          <update_rate>50</update_rate>
          <visualize>false</visualize>
          <always_on>true</always_on>
        </sensor>
</joint>

Then I use a ROS node to take these measurements form Gazebo and publish them to some ROS topic, and I read this topic in Simulink using ROS Toolbox.

I would like to be able to read these measurements in a similar way that I read it from the ftsens-genom3.

So a great solution would be similar to what we do with optitrack-genom3 and mrsim-gazebo.

Thanks!
Ayham