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getting collisions in gazebo plugin

asked 2012-07-17 08:23:34 -0500

mcevoyandy gravatar image

Hi all,

I'm writing a world plug-in and I would like some event to happen when two specific models collide.

My problem is that I don't see the appropriate methods to do this in the gazebosim.org documentation. I can get the world pose and write my own collision detection, but shouldn't this already be happening? How do I get access to the collisions of a model (if any)?

Thanks

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answered 2012-07-18 04:07:19 -0500

DimitriProsser gravatar image

Well, if you're looking to check for contact between models, the first thing that pops into my head is the gazebo_ros_bumper gazebo plugin. You can find the source code here if you want to look through it. That might provide you with a good starting point.

When I was looking to detect collision, I simply made my robot a gigantic bump sensor. That allowed me to subscribe to the bumper topic and find collisions that way. It's not the most efficient method, but it was a quick fix for me.

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Looks like I might have to go this way too, can't seem to find a good way to do what I'd like inside of a plug-in. Thanks for the suggestion.

mcevoyandy gravatar imagemcevoyandy ( 2012-07-27 11:22:07 -0500 )edit

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Asked: 2012-07-17 08:23:34 -0500

Seen: 1,252 times

Last updated: Jul 18 '12