# Publishing wrench topic to link in gazebo harmonic

**URL:** <https://discourse.openrobotics.org/t/publishing-wrench-topic-to-link-in-gazebo-harmonic/48329>\
**Category:** Gazebo General\
**Tags:** ros2, gazebo, ignition, harmonic\
**Created:** [April 1, 2025, 8:14am UTC](https://discourse.openrobotics.org/t/publishing-wrench-topic-to-link-in-gazebo-harmonic/48329 "2025-04-01T08:14:27Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Yanniscod](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/yanniscod/32/27655_2.png) [@Yanniscod](https://discourse.openrobotics.org/u/Yanniscod)\
**Post date:** [April 1, 2025, 8:14am UTC](https://discourse.openrobotics.org/t/publishing-wrench-topic-to-link-in-gazebo-harmonic/48329/1 "2025-04-01T08:14:27Z")

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Hello,

Gazebo version: Harmonic  
ROS2 version: humble

I’m currently trying to simulate a wrench on a drone, which I created using the PX4-Autopilot tutorial `make px4_sitl gz_x500`. Ideally, I’d like to publish wrench to a specific link of the drone, which would mimic some sort of weight the drone is carrying. I saw the gz sim had a ApplyLinkWrench plugin, but it seems to me that it can only affects model created in the world sdf, moreover it doesn’t seem to create the topic I’d want. I only could move inanimate objects with a predefined force/torque.

To sum up, the feature I would like is a gz topic, ex. /x500/base\_link/ApplyWrench, which when being published to, would mimic the force on the link.

Does gazebo harmonic offer such a way? I’m also using the ForceTorque sensor, and ideally I’d like both to work cojointly.

Thank you in advance for your help,

Yannis