ft_senseInterface.xml

<?xml version="1.0" encoding="UTF-8" ?>
<robot name="ftSensorExample">
<device type="canBusAnalogSensor" name="ftSense">
	<param name="canbusDevice"> "socketcan" </param>
	<param name="physDevice"> "socketcan" </param>
	<param name="canDeviceNum"> 0 </param>
	<param name="canAddress"> 0x0D </param>
	<param name="format"> 16 </param>
	<param name="channels"> 6 </param>
	<param name="period"> 1 </param>
	<param name="useCalibration"> 1 </param>
</device>
<device name="ftSensWrapper" type="analogServer">
<param name="period"> 10           </param>
<param name="name">   /ft/ftsense/analog:o </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks"><elem name="FirstStrain">  ftSense </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach"/>
</device>
</robot>