Gazebo 4 Contact sensor issue using URDF
I am having an issue after I upgraded to Gazebo4 from Gazebo2. My reason to upgrade was to have the ability to use multiple contact sensor which apparently is only available 4.1 and higher. I am using URDF instead of SDF since I do plan on using the description for Rviz as well.
My environment is: Ubuntu 14.04; Gazebo 4, Ros Indigo. I am using the "libgazeborosbumper.so" plugin.
Here is my code:
<gazebo reference="left_bump_link">
<sensor type="contact" name="lside_bump_link">
<always_on>true</always_on>
<update_rate>10</update_rate>
<contact>
<collision>left_bump_link_collision</collision>
</contact>
<plugin name="lside_bumper_plugin" filename="libgazebo_ros_bumper.so">
<bumperTopicName>lside_bumper</bumperTopicName>
<frameName>lside_bump_link</frameName>
</plugin>
</sensor>
</gazebo>
The links and the joints work just fine and like I said, this code worked perfectly fine in Gazebo 2.
When I echo the rostopic "lside_bumper", it shows that it never makes a contact. When I did this on Gazebo2 it gave me all the values when the contact was made.
Has anybody experienced anything similar or anything obvious I am missing?
You will probably have better luck here: http://answers.gazebosim.org/questions/
David Lu : I did post it on Gazebosim and I'm waiting for a response there. Once I do, I will copy/link the solution here.