Force torque sensor plugin not detecting wrench

[fafux]

Environment

• OS Version: Ubuntu 24.04
• Source or binary build? Binary Gazebo Harmonic 8.5.0

Description

• Behavior: I include a force torque system plugin in a xacro file in the following way:

  <gazebo reference="${prefix}fts_link_joint">
  <sensor type="force_torque" name="force_torque">
      <update_rate>30.0</update_rate>
      <always_on>true</always_on>
      <visualize>true</visualize>
      <topic>ft_sensor/wrench</topic>
      <force_torque name="ati_axia">
      </force_torque>
      <plugin
        filename="gz-sim-forcetorque-system"
        name="gz::sim::systems::ForceTorque">
      </plugin>
  </sensor>
  </gazebo>

  I run the simulation, in which the link of the sensor (associated with a mesh, both visual and collision) is attached to a robot through a joint. If the sensor has a physical contact with an object directly, the measured wrench has a reasonable value. If I add a link of an end-effector (associated with a mesh, both visual and collision), attached to the sensor with a fixed joint, and this end-effector has the contact with the object, and the ft sensor is not in contact with the object directly, the ft sensor does not measure any wrench. How should I solve it?

[azeey]

Thanks for the issue, but this is a type of question that is best asked on https://robotics.stackexchange.com/. I encourage you to post your question there and if you find that there's a specific bug or feature request, come back and create a new issue here. In the mean time, I'll go ahead and close this.