ignores the fts sensor feedback which is publishing nans

[sinaaghli]

when running mock_sim example the admitance controller is unstable. the reason is that /force_torque_sensor_broadcaster/wrench is publishing all NaNs .
this PR removes the FTS sensor from ros2_control and as a result admitance controller is working as expected

Closes https://github.com/PickNikRobotics/moveit_pro/issues/13267

[marioprats]

Thank you @sinaaghli !
This LGTM.
As a side request, could you please update the JTAC code to protect it against NaN forces? Looks like the semantic_components::ForceTorqueSensor can report NaNs in some cases, so we need to protect the controller against that.
Feel free to add here or create a separate issue / PR for it.
Thanks!

[marioprats]

@sinaaghli you may have to rebase on the latest main to fix the issue with CI

[sinaaghli]

@sinaaghli you may have to rebase on the latest main to fix the issue with CI

Hello @marioprats thanks for the review, sorry I am responding so late, for sure, I will rebase before i merge the branch, and also will check for NaNs. I will check back with you before I'm ready to merge to get your approval.
Sorry, I have been focusing mostly on Fanuc as they seem to be in a rush deadline, and this fell in cracks!

[sinaaghli]

@marioprats there seems to be already a safeguard around NaNs for fts here), I'm still investigating where else this migh have been breaking

[marioprats]

@marioprats there seems to be already a safeguard around NaNs for fts here), I'm still investigating where else this migh have been breaking

Converting the PR to draft while this is being investigated

[nbbrooks]

@sinaaghli can you rebase/merge in main to trigger tests?