Adding collision sensor on Hector Quadrotor Demo

edit

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>