base_feedback topic not available in ROS 2 / MoveIt 2 setup

[JonaRo4]

Information:
Robot: Kinova Gen 3 7 DoF with Robotiq Hand-E Gripper
Software: Ros 2 Jazzy, Ros2 kortex 0.2.5, Moveit 2

Previous Similar Issues for ROS:
Kinovarobotics/Kinova-kortex2_Gen3_G3L#44
Kinovarobotics/Kinova-kortex2_Gen3_G3L#125

Hello everyone,

i'm trying to use the Kinova Gen 3 with ROS 2 and MoveIt 2 to implement a simple application. For my application i would like to receive the wrench values from the End-Effector through a ROS 2 topic. In Kinovarobotics/Kinova-kortex2_Gen3_G3L#44 (comment) it was mentioned, that the wrench values are published on a topic named base_feedback. However, that was for ROS and not ROS 2.

With

ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \
 robot_ip:=192.168.1.10

i can't find the topic base_feedback. Does the topic no longer exist? Is there an updated way to get the wrench values via a ROS 2 topic? Or do i need an external F/T-Sensor for those values?

Thank you very much and kind regards,
Jona