Create a utility node that transforms input Wrench to output Wrenches for a given list of frames

[destogl]

We can close this in favor of creating a new node that transforms the input Wrench topic to output Wrench topic.

Originally posted by @destogl in #559 (comment)

[christophfroehlich]

The logic can be taken from the linked PR above, copied into separate ROS node (no ros2_controller plugin). This can be added as an executable in the fts_broadcaster package.

[rishitej04]

can i do it

[saikishor]

can i do it

@rishitej04 sure. I'll assign it to you