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This is the code I used
<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro"
name="sensorc">
<link name="sensor">
<inertial>
<origin xyz="-1 -1 0.5" rpy="0 0 0" />
<mass value="10.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0" />
</inertial>
<visual>
<origin xyz="-1 -1 0.5" rpy="0 0 0" />
<geometry>
<box size="1 1 1" />
</geometry>
</visual>
<collision>
<origin xyz="-1 -1 0.5" rpy="0 0 0" />
<geometry>
<box size="1 1 1" />
</geometry>
</collision>
</link>
<gazebo reference="sensor">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="sensor">
<selfCollide>true</selfCollide>
<sensor:contact name="contact_sensor">
<parent link="sensor"/>
<updateRate>100.0</updateRate>
<controller:gazebo_ros_bumper name="gazebo_ros_bumper_controller" plugin="libgazebo_ros_bumper.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<bumperTopicName>contact_bumper</bumperTopicName>
<interface:bumper name="contact_bumper_iface" />
</controller:gazebo_ros_bumper>
</sensor:contact>
</gazebo>
</robot>
And I run the turtlebot simulator and dash the turtlebot against the "sensor". Now I run rostopic echo /contact_bumper/state
I get this
header:
seq: 31066
stamp:
secs: 458
nsecs: 186000000
frame_id: world
states: []
I don't get why I am not getting the contact information i.e force and body name. Is there a mistake I am doing ?