add ft sensor broadcaster

README.md

@@ -27,7 +27,7 @@ git clone https://gitlab.com/robosphere/robossembler-ros2
 vcs import . < robossembler-ros2/rbs.repos
 cd ..
 rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
-colcon build --packages-skip cartesian_controller_simulation cartesian_controller_tests --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
 ```
 For simulation with Mujoco, pls [ref](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/blob/fdaa9a2dd0ce15fc949b127dd1164095504273fb/cartesian_controller_simulation/README.md) build and install section.
 

rbs.repos

@@ -15,7 +15,11 @@ repositories:
     type: git
     url: https://github.com/solid-sinusoid/ros2_robotiq_gripper.git
     version: dev
-  cartesian_controllers:
+  # cartesian_controllers:
+  #   type: git
+  #   url: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git
+  #   version: ros2
+  gz_ros2_control:
     type: git
-    url: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git
-    version: ros2
+    url: https://github.com/solid-sinusoid/gz_ros2_control.git
+    version: ft-sensor-broadcaster

rbs_bringup/launch/bringup.launch.py

@@ -119,7 +119,7 @@ def generate_launch_description():
         )
     )
     declared_arguments.append(
-        DeclareLaunchArgument("with_gripper", default_value="false", description="With gripper or not?")
+        DeclareLaunchArgument("with_gripper", default_value="true", description="With gripper or not?")
     )
     declared_arguments.append(
         DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")