Hi ,

I am using gazebo + Ros (melodic) + URDF for my robot. I have created a contact sensor as below. Now I need to generate huge number of random particles (like small bubbles) which are continuously moving towards my robot. (without effect of the gravity) and get the hit count for a given time

Is there any way to generate these particles? Please help here

My code

  <gazebo reference="head__link_LP">
    <sensor name="lp_contactsensor_sensor" type="contact">
      <always_on>true</always_on>
      <contact>
        <collision>head__link_LP_fixed_joint_lump__LP_col_collision</collision>
      </contact>
      <plugin filename="libgazebo_ros_bumper.so" name="left_arm_fist_plugin">
        <bumperTopicName>left_arm_fist_contact</bumperTopicName>
        <frameName>head__link_LP</frameName>
      </plugin>
    </sensor>
  </gazebo>