Has the development of this sensor part been completed

[hugosmoon]

Has the development of this sensor part been completed? Why do I only see the definition of methods for sensor conversion in the source code, but no invocation of these methods?

[hugosmoon]

I want to add sensors such as camera, InertialUnit, Accelerometer, etc., to the robot. How should I edit the URDF file? I have read through the source code and found some related code, but it seems incomplete.

[BrightAlex]

By the way, the force torque sensor is necessary