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This is the default ROS message for a bumper. If you prefer to have a data that's easier to interpret, you can use the sr_tactile_sensors package.

You'll first need to compile the package for Gazebo:

GAZEBO=1 rosmake sr_tactile_sensors

Then you can launch the node (once gazebo is running):

roslaunch sr_hand gazebo_hand.launch

This will provide you with 5 different topics: /sr_tactile/touch/ff, /sr_tactile/touch/mf, /sr_tactile/touch/rf, /sr_tactile/touch/lf, /sr_tactile/touch/th. They each contain a double that is proportional to the amount of force applied on the finger tip.

This is the default ROS message for a bumper. If you prefer to have a data that's easier to interpret, you can use the sr_tactile_sensors package.

You'll first need to compile the package for Gazebo:

GAZEBO=1 rosmake sr_tactile_sensors

Then you can launch the node (once gazebo is running):

roslaunch sr_hand gazebo_hand.launch
sr_tactile_sensors sr_tactile_gazebo.launch