[example_5] Update demo to illustrate the usage of wrench transformer

[Juliaj]

Companion PR for ros-controls/ros2_controllers#2021

This augments example_5 to demonstrate the wrench transformer utility node for the force_torque_sensor_broadcaster.

• use_wrench_transformer is introduced to control whether to launch the wrench transformer node, by default, it is false.

[christophfroehlich]

Thanks. The failing tests may be a consequence of

2025-11-23T02:20:27.7426040Z 3: [ERROR] [launch]: Caught exception in launch (see debug for traceback): package 'force_torque_sensor_broadcaster' found at '/home/runner/work/ros2_control_demos/ros2_control_demos/.work/upstream_ws/install/force_torque_sensor_broadcaster', but libexec directory '/home/runner/work/ros2_control_demos/ros2_control_demos/.work/upstream_ws/install/force_torque_sensor_broadcaster/lib/force_torque_sensor_broadcaster' does not exist
2025-11-23T02:20:27.7428853Z 3: Processes under test stopped before tests completed

Let's wait for the upstream PR to be merged.

[christophfroehlich]

should we add a test if the expected topic is published? Just to ensure that the documentation is in accordance with the actual behavior of the node.

[Juliaj]

Added a test.

[christophfroehlich]

why not using WaitForTopics?
https://docs.ros.org/en/rolling/p/launch_testing_ros/launch_testing_ros.wait_for_topics.html

It hides just the subscription inside

[Juliaj]

This is new to me, thanks for pointing it out. It's indeed handy, updated the test.

[Juliaj]

The failing tests may be a consequence of

2025-11-23T02:20:27.7426040Z 3: [ERROR] [launch]: Caught exception in launch (see debug for traceback): package 'force_torque_sensor_broadcaster' found at '/home/runner/work/ros2_control_demos/ros2_control_demos/.work/upstream_ws/install/force_torque_sensor_broadcaster', but libexec directory '/home/runner/work/ros2_control_demos/ros2_control_demos/.work/upstream_ws/install/force_torque_sensor_broadcaster/lib/force_torque_sensor_broadcaster' does not exist
2025-11-23T02:20:27.7428853Z 3: Processes under test stopped before tests completed

@christophfroehlich, this test failure still persists in the latest runs. I suspect it was due to ros-rolling-force-torque-sensor-broadcaster installed in CI was still the old version. I did follow on my dev machine,

sudo apt-get install -y ros-rolling-force-torque-sensor-broadcaster

# following shows 5.8.0
dpkg -l | grep force-torque-sensor-broadcaster

The version from source main package.xml is at 6.0.0.

Let me know if further debugging is needed. Thanks a bunch!

[christophfroehlich]

@christophfroehlich, this test failure still persists in the latest runs. I suspect it was due to ros-rolling-force-torque-sensor-broadcaster installed in CI was still the old version. I did follow on my dev machine,

This is expected behavior. binary build install the released packages, the rolling semi-binary build is green (compiling ros2_controller from source), kilted semi-binary is failing because we haven't merged the backports yet.

[christophfroehlich]

Thx :)