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The bumper plugin needs to be inside a <sensor> element in your urdf:

<gazebo reference="front_bumper">
    <sensor name=front_bumper_sensor" type="contact">
        <update_rate>10.0</update_rate>
        <contact>
            <!-- These collision names need to match the names used in the generated -->
            <!-- SDF, not the urdf names or this still won't work! -->
            <collision>front_bumper_collision</collision>
        </contact>
        <plugin name="bumper_plugin" filename="libgazebo_ros_bumper.so">
            <ros>
                <namespace>demo</namespace>
                <remapping>bumper_states:=bumper_demo</remapping>
            </ros>
        </plugin>
    </sensor>
</gazebo>

To find the actual collision name you should use in the collision element look at https://answers.ros.org/question/277175/gazebo_ros_bumper_controller-not-updating-bumper-states/?answer=286184#post-id-286184

In summary, run gz sdf -p <your_filename>.urdf and check to see the collision name it generates for the front bumper collision, then put that name into the <collision> element.

You'll also need to give an actual name to the collision:

    <collision name="front_bumper_collision">
        <geometry>
            <box size="0.03 0.400 0.03"/>
        </geometry>
    </collision>