Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR #610

BartlomiejK2 · 2025-06-15T16:18:46Z

This PR is a fixed version of #273 by Kevin DeMarco , unfortunately the author of original PR has not made any changes since 2024, so I've made this one in order to finally have hardware interface for ForceTroque sensor. I've tried to preserve the authorship and committer-ship of the commits made by the first PR submitter.

gz_ros2_control/src/gz_system.cpp

BartlomiejK2 · 2025-06-16T17:23:58Z

Can this PR be also backported to humble?

christophfroehlich · 2025-06-16T19:32:28Z

Can this PR be also backported to humble?

we can try ;)

christophfroehlich

In principle, LGTM.

Could you please have a look and add this to one of the examples, where [a test exist tests? At least we have a smoke test then and see if the system is launched successfully. Maybe here, or as followup PR, we can test if the interfaces were exported successfully and data is received.

BartlomiejK2 · 2025-06-18T14:43:47Z

Hi @christophfroehlich, I've successfully run ForceTorque sensor on test position_test.py and tested that interfaces are exported and send data to ForceTorqueSensorBroadcaster on Humble. Unfortunately this tests require custom gazebo sdf world to include gz::sim::systems::ForceTorque in it. Should I add in this PR all my changes to test_cart_position.xacro.urdf or create seperate gazebo sdf world, urdf, yaml and launch files for force torque sensor tests?

christophfroehlich · 2025-06-23T12:24:44Z

I suggest adding a separate demo launch file, and moving also the IMU from example_velocity to it (can be done in a separate PR, as you like). Please update also the docs with necessary changes for using the new sensor, maybe by adding a new subsection here. Thanks!

BartlomiejK2 · 2025-06-25T16:06:28Z

Hi @christophfroehlich , I've added files for force torque sensor tests. Unfortunately, I cannot test it on my own setup due to different ROS2 version.

christophfroehlich

Thanks for adding docs and test, I added some requests and further questions

christophfroehlich · 2025-06-26T06:30:50Z

gz_ros2_control_demos/urdf/test_cart_ft_sensor.xacro.urdf

+  </gazebo>
+
+  <gazebo>
+    <!-- Joint state publisher -->


Suggested change



?

I've left it because it is in every cart test.

christophfroehlich · 2025-06-26T06:31:18Z

gz_ros2_control_demos/config/cart_controller_ft_sensor.yaml

+
+    force_torque_sensor_broadcaster:
+      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster


Suggested change

force_torque_sensor_broadcaster:

type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster

gz_ros2_control_demos/config/cart_controller_ft_sensor.yaml

gz_ros2_control_demos/CMakeLists.txt

christophfroehlich · 2025-06-26T06:34:53Z

doc/index.rst

+    <topic>force_torque_sensor</topic>
+  </sensor>
+
+It is important to add this as `reference` sensor in the ``<gazebo>`` tag in your URDF file.


please explain. Do you mean the ros2_control tag, i.e.

<sensor name="force_torque_sensor" type="force_torque"> <state_interface name="force.x"/> <state_interface name="force.y"/> <state_interface name="force.z"/> <state_interface name="torque.x"/> <state_interface name="torque.y"/> <state_interface name="torque.z"/> </sensor>

I've added this comment as it is not directly URDF sensor but SDF, so I've wanted to clarify that is should be defined in <gazebo> tag in URDF like this:

<gazebo reference="slider_to_cart"> <sensor name="force_torque_sensor" type="force_torque"> <update_rate>10.0</update_rate> <always_on>true</always_on> <visualize>true</visualize> <topic>force_torque_sensor</topic> </sensor> </gazebo>

christophfroehlich · 2025-06-26T06:38:03Z

gz_ros2_control_demos/worlds/empty_ft_sensor.sdf

do we really need this?
The plugin can also be added to a gazebo tag in the urdf, see here.

If it is really needed, please remove the comment section from this file and add a reference where got this file from.

For ROS2 Humble it is advised to add IMU and Force-Torque plugins to world .sdf file, explained in this issue. I'm not sure if it was changed in newer versions. There is also explanation why IMU plugin works in URDF file and Force-Torque not.

gz_ros2_control_demos/launch/cart_example_ft_sensor.launch.py

gz_ros2_control_tests/tests/ft_sensor_test.py

ahcorde

Please check linters https://github.com/ros-controls/gz_ros2_control/actions/runs/15996075764/job/45119707219?pr=610

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

ahcorde · 2025-07-02T07:51:30Z

https://github.com/Mergifyio backport kilted jazzy humble

mergify · 2025-07-02T07:51:41Z

backport kilted jazzy humble

✅ Backports have been created

#623 Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR (backport #610) has been created for branch kilted
#624 Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR (backport #610) has been created for branch jazzy
#625 Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR (backport #610) has been created for branch humble but encountered conflicts

…ger - fixes to original PR (#610) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Kevin DeMarco <kevin@kevindemarco.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit a678ab9)

…ger - fixes to original PR (#610) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Kevin DeMarco <kevin@kevindemarco.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit a678ab9) # Conflicts: # gz_ros2_control/src/gz_system.cpp

…ger - fixes to original PR (backport #610) (#623) * Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR (#610) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Kevin DeMarco <kevin@kevindemarco.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit a678ab9)

…ger - fixes to original PR (backport #610) (#624) * Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR (#610) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Kevin DeMarco <kevin@kevindemarco.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit a678ab9)

SyllogismRXS and others added 5 commits June 15, 2025 17:56

started adding FTS info

7a2839c

Providing force torque sensor data to controller_manager

f02381d

Removed old TODO that was completed

5a10fc4

Indent spaces fix

d36405f

Added fixes from original pull request

9955648

BartlomiejK2 requested a review from ahcorde as a code owner June 15, 2025 16:18

ahcorde requested changes Jun 16, 2025

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Includes in alphabetical order

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christophfroehlich reviewed Jun 16, 2025

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Fixed typo in comment

9a190ce

Added force-torque sensor test for cart example

9902932

BartlomiejK2 added 4 commits June 25, 2025 19:10

Added ft sensor test to CMake

1a71c36

Fixed format

4d91ca9

Fixed test

ac404ba

Added force-torque sensor to docs

2c7a04a

christophfroehlich requested changes Jun 26, 2025

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BartlomiejK2 and others added 2 commits June 26, 2025 13:49

Fixed some issues

a564c9e

Merge branch 'rolling' into gazebo-fts-fixes

af3d45b

ahcorde requested changes Jul 1, 2025

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ahcorde added 3 commits July 1, 2025 14:21

Merge branch 'rolling' into gazebo-fts-fixes

87d87c5

make linters happy

bcefb68

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Merge branch 'rolling' into gazebo-fts-fixes

036fce7

ahcorde requested a review from christophfroehlich July 1, 2025 13:36

make linters happy

229fbf7

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

ahcorde approved these changes Jul 1, 2025

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ahcorde merged commit a678ab9 into ros-controls:rolling Jul 1, 2025
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This was referenced Jul 2, 2025

Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR (backport #610) #623

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Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR (backport #610) #624

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mergify bot mentioned this pull request Jul 2, 2025

Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR (backport #610) #625

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		force_torque_sensor_broadcaster:
		type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster

Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR #610

Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR #610

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