Zeroing wrench data via SensorInterface

[gbartyzel]

Hello, I'm trying to create a hardware interface for F/T sensor (like ATI or OnRobot). Both sensors have options for taring the F/T values via TCP/IP commands. However, using the SensorInterface I'm not able to send such a command to the hardware. What would be the best approach for implementing such functionality? Maybe creating a separate node that will receive raw wrench data and then forward it with taring option?