I changed the quadrotor_sensors.gazebo.xacro file and added the contact_bumper sensor as follows, saved the file, ran the simulation but could not see a new sensor added when I enter rostopic list
<robot <a="" href="http://xmlns:xacro="http://ros.org/wiki/xacro%22">xmlns:xacro="http://ros.org/wiki/xacro"></robot>
<gazebo>
<plugin name="quadrotor_imu_sim" filename="libhector_gazebo_ros_imu.so">
<updaterate>100.0</updaterate>
<bodyname>base_link</bodyname>
<frameid>$(arg base_link_frame)</frameid>
<topicname>raw_imu</topicname>
<rpyoffsets>0 0 0</rpyoffsets>
<gaussiannoise>0</gaussiannoise>
<acceldrift>0.5 0.5 0.5</acceldrift>
<accelgaussiannoise>0.35 0.35 0.3</accelgaussiannoise>
<ratedrift>0.1 0.1 0.1</ratedrift>
<rategaussiannoise>0.05 0.05 0.015</rategaussiannoise>
</plugin>
<plugin name="quadrotor_baro_sim" filename="libhector_gazebo_ros_baro.so">
<updateRate>10.0</updateRate>
<bodyName>base_link</bodyName>
<frameId>$(arg base_link_frame)</frameId>
<topicName>pressure_height</topicName>
<altimeterTopicName>altimeter</altimeterTopicName>
<offset>0</offset>
<drift>10.0</drift>
<gaussianNoise>0.1</gaussianNoise>
</plugin>
<plugin name="quadrotor_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
<updateRate>10.0</updateRate>
<bodyName>base_link</bodyName>
<frameId>$(arg base_link_frame)</frameId>
<alwaysOn>true</alwaysOn>
<topicName>contact_bumper</topicName>
<offset>0 0 0</offset>
<drift>0.0 0.0 0.0</drift>
<gaussianNoise>1.3e-2 1.3e-2 1.3e-2</gaussianNoise>
</plugin>
<plugin name="quadrotor_magnetic_sim" filename="libhector_gazebo_ros_magnetic.so">
<updateRate>10.0</updateRate>
<bodyName>base_link</bodyName>
<frameId>$(arg base_link_frame)</frameId>
<topicName>magnetic</topicName>
<offset>0 0 0</offset>
<drift>0.0 0.0 0.0</drift>
<gaussianNoise>1.3e-2 1.3e-2 1.3e-2</gaussianNoise>
</plugin>
<plugin name="quadrotor_gps_sim" filename="libhector_gazebo_ros_gps.so">
<updateRate>4.0</updateRate>
<bodyName>base_link</bodyName>
<frameId>$(arg base_link_frame)</frameId>
<topicName>fix</topicName>
<velocityTopicName>fix_velocity</velocityTopicName>
<referenceLatitude>49.860246</referenceLatitude>
<referenceLongitude>8.687077</referenceLongitude>
<drift>5.0 5.0 5.0</drift>
<gaussianNoise>0.01 0.01 0.01</gaussianNoise>
<velocityDrift>0 0 0</velocityDrift>
<velocityGaussianNoise>0.05 0.05 0.05</velocityGaussianNoise>
</plugin>
<plugin name="quadrotor_groundtruth_sim" filename="libgazebo_ros_p3d.so">
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>ground_truth/state</topicName>
<gaussianNoise>0.0</gaussianNoise>
<frameName>$(arg world_frame)</frameName>
</plugin>
<sensor name="gripper_contact_sensor" type="contact">
<always_on>true</always_on>
<update_rate>30.0</update_rate>
<contact>
<collision>collision</collision>
</contact>
<plugin name="gripper_bumper" filename="libgazebo_ros_bumper.so">
<bumperTopicName>gripper_contact_sensor_state</bumperTopicName>
<frameName>gripper</frameName>
</plugin>
</sensor>
</gazebo>
</robot>
Lets say we have this
<gazebo reference="${lr}_arm_fist"> <sensor name="lowerleg_contactsensor_sensor" type="contact"> <always_on>true</always_on> <contact> <collision>${lr}_upper_arm_fixed_joint_lump__${lr}_bump_sensor_collision_collision_1</collision> </contact> <plugin name="${lr}_arm_fist_plugin" filename="libgazebo_ros_bumper.so"> <bumpertopicname>${lr}_arm_fist_contact</bumpertopicname> <framename>${lr}_arm_fist</framename> </plugin> </sensor> </gazebo>
How am I going to modify it to be used in my quadrotor model and which file should I change?
I changed the quadrotor_sensors.gazebo.xacro file and added the contact_bumper sensor as follows, saved the file, ran the simulation but could not see a new sensor added when I enter rostopic list