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working ft_sensor
<joint name="rover_amalia_joint_chassis_leg_f_r" type="revolute">
<child>rover_amalia_leg_bar_f_r</child>
<parent>rover_amalia_chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<dynamics/>
</axis>
<physics>
<ode>
</ode>
<provide_feedback>true</provide_feedback>
</physics>
</joint>
...
<plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
<updateRate>100.0</updateRate>
<topicName>ft_sensor_topic</topicName>
<jointName>rover_amalia_joint_chassis_leg_f_r</jointName>
</plugin>
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