Force-Torque measurements should be attached to correct frame

[fmauch]

Currently our FTS measurements are published in the tool0 frame. This is not necessarily true, which is why we changed that on the ROS1 driver recently.

Particularly, I think we should make sure they are published in the controller frame (which we currently don't have, see #571)

[dpiet]

Hi @fmauch, is this still the current status of the reported issue? In ROS 2 Humble testing I've noticed that changing the active TCP on the TP affects the wrench readings, but the frame_id is still reporting tool0.

[fmauch]

Yes, this is unfortunately still the state. I do have this on my current work plate though, so if nothing severely comes in between I am confident to have something in the next couple of weeks.