diff --git a/control_toolbox/src/control_filters/gravity_compensation.cpp b/control_toolbox/src/control_filters/gravity_compensation.cpp
new file mode 100644
index 00000000..21e70b57
--- /dev/null
+++ b/control_toolbox/src/control_filters/gravity_compensation.cpp
@@ -0,0 +1,107 @@
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "control_filters/gravity_compensation.hpp"
+
+#include "geometry_msgs/msg/vector3_stamped.hpp"
+#include "geometry_msgs/msg/wrench_stamped.hpp"
+#include "tf2/LinearMath/Vector3.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
+namespace control_filters
+{
+template <>
+bool GravityCompensation<geometry_msgs::msg::WrenchStamped>::update(
+  const geometry_msgs::msg::WrenchStamped & data_in, geometry_msgs::msg::WrenchStamped & data_out)
+{
+  if (!this->configured_)
+  {
+    throw std::runtime_error("Filter is not configured");
+  }
+
+  // Update internal parameters if required
+  if (parameter_handler_->is_old(parameters_))
+  {
+    parameters_ = parameter_handler_->get_params();
+    compute_internal_params();
+  }
+
+  try
+  {
+    // transform from data_in frame to sensor_frame
+    transform_sensor_datain_ = p_tf_Buffer_->lookupTransform(
+      parameters_.sensor_frame, data_in.header.frame_id, rclcpp::Time());
+
+    // use data_out frame id for the back transformation, otherwise same is data_in
+    if (!data_out.header.frame_id.empty())
+    {
+      data_out.header.stamp = data_in.header.stamp;  // only copy the timestamp
+    }
+    else
+    {
+      data_out.header = data_in.header;  // keep the same header and same frame_id
+    }
+    transform_data_out_sensor_ = p_tf_Buffer_->lookupTransform(
+      data_out.header.frame_id, parameters_.sensor_frame, rclcpp::Time());
+    // transform from world (gravity) frame to sensor frame
+    transform_sensor_world_ = p_tf_Buffer_->lookupTransform(
+      parameters_.sensor_frame, parameters_.world_frame, rclcpp::Time());
+  }
+  catch (const tf2::TransformException & ex)
+  {
+    std::stringstream frames_sstr;
+    frames_sstr << "datain:" << data_in.header.frame_id << " dataout:" << data_out.header.frame_id;
+    frames_sstr << " world:" << parameters_.world_frame << " sensor:" << parameters_.sensor_frame;
+    RCLCPP_ERROR_SKIPFIRST_THROTTLE(
+      (*logger_), *clock_, 5000, "GravityCompensation update failed:%s, given frames are %s",
+      ex.what(), frames_sstr.str().c_str());
+    return false;  // if cannot transform, result of subsequent computations is invalid
+  }
+
+  // Transform data_in to sensor_frame frame
+  geometry_msgs::msg::Wrench wrench_sensor;
+  tf2::doTransform(data_in.wrench, wrench_sensor, transform_sensor_datain_);
+
+  // CoG is already in sensor_frame
+
+  // Rotate (no wrench, just a force) the gravity force to sensor frame
+  geometry_msgs::msg::Vector3Stamped cst_ext_force_transformed;
+  tf2::doTransform(cst_ext_force_, cst_ext_force_transformed, transform_sensor_world_);
+
+  // Compensate for gravity force in sensor frame
+  wrench_sensor.force.x -= cst_ext_force_transformed.vector.x;
+  wrench_sensor.force.y -= cst_ext_force_transformed.vector.y;
+  wrench_sensor.force.z -= cst_ext_force_transformed.vector.z;
+  // Compensate for torque produced by offset CoG in sensor frame
+  // result from cross-product of cog Vector and force
+  tf2::Vector3 cog_vector = {cog_.vector.x, cog_.vector.y, cog_.vector.z};
+  auto added_torque = cog_vector.cross(
+    {cst_ext_force_transformed.vector.x, cst_ext_force_transformed.vector.y,
+     cst_ext_force_transformed.vector.z});
+  wrench_sensor.torque.x -= added_torque.getX();
+  wrench_sensor.torque.y -= added_torque.getY();
+  wrench_sensor.torque.z -= added_torque.getZ();
+  // Transform wrench_world to data_out frame_id if not empty otherwise to data_in frame id
+  tf2::doTransform(wrench_sensor, data_out.wrench, transform_data_out_sensor_);
+
+  return true;
+}
+
+}  // namespace control_filters
+
+#include "pluginlib/class_list_macros.hpp"
+
+PLUGINLIB_EXPORT_CLASS(
+  control_filters::GravityCompensation<geometry_msgs::msg::WrenchStamped>,
+  filters::FilterBase<geometry_msgs::msg::WrenchStamped>)