diff --git a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
index 9651459..7b0b0be 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
@@ -70,12 +70,14 @@ protected:
   hardware_interface::PositionJointInterface pj_interface_;
   ur_controllers::SpeedScalingInterface speedsc_interface_;
   // hardware_interface::VelocityJointInterface vj_interface_;
+  hardware_interface::ForceTorqueSensorInterface fts_interface_;
 
   vector6d_t joint_position_command_;
   // std::vector<double> joint_velocity_command_;
   vector6d_t joint_positions_;
   vector6d_t joint_velocities_;
   vector6d_t joint_efforts_;
+  vector6d_t fts_measurements_;
   double speed_scaling_;
   double target_speed_fraction_;
   double speed_scaling_combined_;
@@ -86,6 +88,8 @@ protected:
 
   PausingState pausing_state_;
   double pausing_ramp_up_increment_;
+
+  std::string tcp_link_;
 };
 
 }  // namespace ur_driver
diff --git a/ur_rtde_driver/launch/ur10_ros_control.launch b/ur_rtde_driver/launch/ur10_ros_control.launch
index 506b5cc..2ee6c82 100644
--- a/ur_rtde_driver/launch/ur10_ros_control.launch
+++ b/ur_rtde_driver/launch/ur10_ros_control.launch
@@ -16,7 +16,7 @@
   <arg name="base_frame" default="$(arg prefix)base" />
   <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller"/>
+  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default=""/>
   <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
   <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
diff --git a/ur_rtde_driver/resources/rtde_recipe.txt b/ur_rtde_driver/resources/rtde_recipe.txt
index e4ef814..e063431 100644
--- a/ur_rtde_driver/resources/rtde_recipe.txt
+++ b/ur_rtde_driver/resources/rtde_recipe.txt
@@ -4,3 +4,4 @@ actual_qd
 speed_scaling
 target_speed_fraction
 runtime_state
+actual_TCP_force
diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp
index 78c8584..256ecf9 100644
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -61,6 +61,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
     return false;
   }
 
+  tcp_link_ = robot_hw_nh.param<std::string>("tcp_link", "tool0");
+
   ROS_INFO_STREAM("Initializing urdriver");
   ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename));
 
@@ -90,11 +92,15 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
   speedsc_interface_.registerHandle(
       ur_controllers::SpeedScalingHandle("speed_scaling_factor", &speed_scaling_combined_));
 
+  fts_interface_.registerHandle(hardware_interface::ForceTorqueSensorHandle(
+      "wrench", tcp_link_, fts_measurements_.begin(), fts_measurements_.begin() + 3));
+
   // Register interfaces
   registerInterface(&js_interface_);
   registerInterface(&spj_interface_);
   // registerInterface(&pj_interface_);
   registerInterface(&speedsc_interface_);
+  registerInterface(&fts_interface_);
 
   ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");
 
@@ -131,6 +137,11 @@ void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period
       // This throwing should never happen unless misconfigured
       throw std::runtime_error("Did not find speed_scaling in data sent from robot. This should not happen!");
     }
+    if (!data_pkg->getData("actual_TCP_force", fts_measurements_))
+    {
+      // This throwing should never happen unless misconfigured
+      throw std::runtime_error("Did not find actual_TCP_force in data sent from robot. This should not happen!");
+    }
 
     // pausing state follows runtime state when pausing
     if (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSED))