ros2_control and ft_torque sensor doesn't work simultaneously

[Nemantor]

Affected ROS2 Driver version(s)

release

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

From binary packets

Which robot platform is the driver connected to.

URSim in linux

Robot SW / URSim version(s)

ign gazebo 6.15

How is the ROS driver used.

Headless without using the teach pendant

Issue details

Summary

ros2_control and ft_torque sensor doesn't work simultaneously 1.simulation launched with ft_torque sensor and ros2_control enabled sdf file -> no torque_force is published to a topic 2.simulation launched with ft_torque sensor enabled sdf file -> torque_force is published to a topic

Expected Behavior

How can I get torque measurements from my gazebo simulation while having ros2_control enabled.

Relevant log output

No response

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[fmauch]

I am confused. Are you using URSim or gazebo? If you are using gazebo then there is no need to actually use this driver.