I`m trying to add force torque sensor on wrist to this robotic arm. I add this code to urdf file

    <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">

and this provideFeedback part to wrist joint

<joint name="wrist" type="continuous">
    <axis xyz="0 1 0"/>
    <parent link="lower_arm"/>
    <child link="hand"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.425"/>

But when I try to read sensor using following code

gz topic --view /gazebo/world/robot_arm/wrist/force_torque/wrench

from the tutorial nothing happened.

Can someone help me with this?

  • 1
    $\begingroup$ Welcome to Robotics user1214542, but I'm afraid that it is not clear what you are asking. We prefer practical, answerable questions based on actual problems that you face, so it's a good idea to include details of what you want to achieve, what you tried, what you saw & what you expected to see. Please take a look at How to Ask & tour for more information on how stack exchange works and work through the Robotics question checklist to edit your question to make it clearer. $\endgroup$
    – Chuck
    Mar 14 at 15:14
  • 1
    $\begingroup$ There's a tutorial here on how to add force torque sensors to Gazebo. Did you try these steps? Did you get an error or is there some other reason you believe there is a problem? Please edit your question to include details of the specific problem you're having and the steps you've taken so far to troubleshoot. $\endgroup$
    – Chuck
    Mar 14 at 15:16
  • $\begingroup$ I tried this link and it's working fine. But I don't know how can I implement this for robotic arm? $\endgroup$ Mar 14 at 15:39
  • $\begingroup$ Any suggestions? $\endgroup$ yesterday
  • 1
    $\begingroup$ I'm not sure how to answer Any suggestions? - I left an answer here the same day the question was asked. Is there something else not working? Can you please clarify the question? $\endgroup$
    – Chuck
    22 hours ago

1 Answer 1


If you successfully followed the tutorial to implement the force torque sensor and you just want to attach it to the end of a robotic arm, then go to where the joint is defined

<joint name="joint_01" type="revolute">

change the parent tag


to point to the end link on your robot.


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