Add bumper plugin and read the state [closed]

asked 2015-08-06 14:19:46 -0600

akb gravatar image


I'm trying to add a bumper plugin in Gazebo and read the state by the topic in ROS, but I can't ge it. All that I get is add the object and read this:

  seq: 16
    secs: 0
    nsecs: 0
  frame_id: my_box
states: []

Time doesn't change and states is empty.

The urdf file is:

<?xml version="1.0"?>
<robot name="simple_box"
       xmlns:xacro="" >

    <link name="my_box">

            <mass value="1.0" />
            <origin xyz="1 0 0" /> 
            <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="100.0"  iyz="0.0"  izz="1.0" />

            <origin xyz="0 0 0" rpy="0 0 0" />
                <box size="0.2 0.2 0.2" />

            <!-- collision origin is defined w.r.t. link local coordinate system -->
            <origin xyz="0 0 0" rpy="0 0 0" />
                <box size="0.2 0.2 0.2" />

<gazebo reference="my_box">
  <sensor name="gripper_contact_sensor" type="contact">
    <plugin name="gripper_bumper" filename="">

I saw in some answers that I need to add '<geom>my_box_geom</geom>' [link] , but it doesn't work. I also tried with 'test_bumper' in gazebo_plugins, but neither works.

I use ROS Groovy, Gazebo 1.5 and Ubuntu 12.04 (I can't update, but I tried the same in Ros Hydro and...the same result).

Could someone say how add it correctly? or if you see any mistake in the file... Thank you!

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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: by tfoote
close date 2015-08-28 03:21:59.236279