Merge branch 'main' into foxy

Author: munseng-flexiv

flexiv_description/urdf/rizon10.ros2_control.xacro

@@ -124,6 +124,41 @@
         <param name="initial_position">${initial_positions['joint7']}</param>        <!-- initial position for the FakeSystem -->
       </joint>
 
+      <sensor name="${prefix}force_torque_sensor">
+        <state_interface name="force.x"/>
+        <state_interface name="force.y"/>
+        <state_interface name="force.z"/>
+        <state_interface name="torque.x"/>
+        <state_interface name="torque.y"/>
+        <state_interface name="torque.z"/>
+      </sensor>
+      <sensor name="${prefix}external_wrench_in_base">
+        <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>
+      <sensor name="${prefix}external_wrench_in_tcp">
+        <state_interface name="force.x"/>
+        <state_interface name="force.y"/>
+        <state_interface name="force.z"/>
+        <state_interface name="torque.x"/>
+        <state_interface name="torque.y"/>
+        <state_interface name="torque.z"/>
+      </sensor>
+
+      <sensor name="${prefix}tcp_pose">
+        <state_interface name="position.x"/>
+        <state_interface name="position.y"/>
+        <state_interface name="position.z"/>
+        <state_interface name="orientation.x"/>
+        <state_interface name="orientation.y"/>
+        <state_interface name="orientation.z"/>
+        <state_interface name="orientation.w"/>
+      </sensor>
+
     </ros2_control>
   </xacro:macro>
 </robot>