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Adding torque sensors to my robot

Hello, sort of new to this stuff. Currently I've build a .Xacro for my robot which works quite nicely, now I want to attach some torque sensors to the joints to get some readings. I don't really know whats the best way to go about this and if someone could point me in the right direction it would be awesome!

Thanks in advance

Adding torque sensors to my robot

Hello, sort of new to this stuff. Currently I've build a .Xacro for my robot which works quite nicely, now I want to attach some torque sensors to the joints to get some readings. I don't really know whats the best way to go about this and if someone could point me in the right direction it would be awesome!

Thanks in advance