Does the ft_sensor plugin works currently? I am trying it on Gazebo 4.0, it seems to be set up correctly, but it always publishes a zero value, both for force and torque.
This is an extract from the .sdf file I use:
<joint name="rover_amalia_joint_chassis_leg_f_r" type="revolute"> <child>rover_amalia_leg_bar_f_r</child> <parent>rover_amalia_chassis</parent> <axis> <xyz>0 1 0</xyz> <dynamics/> </axis> <physics> <ode> <provide_feedback>true</provide_feedback> </ode> </physics> </joint> ... <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so"> <updaterate>100.0</updaterate> <topicname>ft_sensor_topic</topicname> <jointname>rover_amalia_joint_chassis_leg_f_r</jointname> </plugin>
If it does work for you, can you give your configuration or point me out another test case?
