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I have implemented a ros package that subscribes to gazebo and publishes a custom message with the wanted info. I use the transport library provided by gazebo. https://github.com/wonwon0/gazebo_contact_republisher

I have implemented a ros package that subscribes to gazebo and publishes a custom message with the wanted info. I use the transport library provided by gazebo. ~~https://github.com/wonwon0/gazebo_contact_republisher~~https://github.com/wonwon0/gazebo_contact_republisher Thank you for your input it made me rethink about my whole approach.

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