[libgazebo_ros2_control] and [libgazebo_ros_control.so] causes different behavior in FT-sensor published wrench values.

[hazeezadebayo]

Hi everyone!

In this package - https://github.com/hazeezadebayo/ft_ws -, I have provided ros1 (noetic) and ros2 (humble) environments for FT-sensor with libgazebo ros/ros2 control using docker for easy reproducibility. The URDFs are exactly the same with the respective implementations regarding the ros-distro of use. The problem here is that, at start-up FT values at all joints are exactly same for both distros. However, once motion is commanded, the discrepancies start and the values are no longer the same. As a personal test, I implemented Moveit dynamic solver to generate torques to control the arm on ROS2 and the command values generated validates the ros1 implementation FT values and not the ros2's. Any help or suggestion would be appreciated.

My Gazebo version is 11.11.0 - Copyright (C) 2012 Open Source Robotics Foundation.