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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="ft_sensor_gazebo" params="parent name type">
<gazebo reference="${name}_${type}_base">
<gravity>true</gravity>
</gazebo>
<gazebo reference="${name}_${type}_measure">
<gravity>true</gravity>
</gazebo>
<gazebo reference="${parent}_${name}_measure_joint">
<provideFeedback>true</provideFeedback>
</gazebo>
<!-- The ft_sensor plugin -->
<gazebo>
<plugin name="${name}_ft_sensor" filename="libgazebo_ros_ft_sensor.so">
<updateRate>1000.0</updateRate>
<topicName>${parent}_${name}/ft_sensor_topic</topicName>
<jointName>${parent}_${name}_measure_joint</jointName>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.003</stddev> <!-- change this to simulate noise -->
</noise>
</plugin>
</gazebo>
</xacro:macro>
</robot>
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