ros-simulation/gazebo_ros_pkgs — pull request #204 by fsuarez6 (2014-06-05 17:32:20+00:00)
Title: gazebo_plugins: Adding ForceTorqueSensor Plugin

This gazebo plugin broadcasts `geometry_msgs/WrenchStamped` messages with measured force and torque on a specified joint. It's publishes at a given rate.
The wrench is reported in the joint child-link frame and the measure direction is child-to-parent.

Example usage:
```xml

true

100.0
ft_sensor_topic
JOINT_NAME

```