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Adding sensors to gazebo - from scratch

asked 2013-01-08 23:05:11 -0500

gordon gravatar image

updated 2014-04-20 14:06:46 -0500

ngrennan gravatar image


I am new to ROS and gazebo. I have created a world in gazebo and now I wish to add few contact sensors to it. Can someone please tell me how to add a sensor to the world and give a sample xml code if possible ?

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answered 2013-01-09 04:17:46 -0500

davinci gravatar image
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answered 2013-01-09 18:51:58 -0500

gordon gravatar image

This is the code I used

<?xml version="1.0"?>
<robot xmlns:sensor=""

<link name="sensor">
      <origin xyz="-1 -1 0.5" rpy="0 0 0" /> 
      <mass value="10.0" />
      <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="100.0"  iyz="0.0"  izz="1.0" />
      <origin xyz="-1 -1 0.5" rpy="0 0 0" /> 
        <box size="1 1 1" />
     <origin xyz="-1 -1 0.5" rpy="0 0 0" /> 
       <box size="1 1 1" />
  <gazebo reference="sensor">

<gazebo reference="sensor">
      <sensor:contact name="contact_sensor">
        <parent link="sensor"/>
        <controller:gazebo_ros_bumper name="gazebo_ros_bumper_controller" plugin="">
          <interface:bumper name="contact_bumper_iface" />

And I run the turtlebot simulator and dash the turtlebot against the "sensor". Now I run rostopic echo /contact_bumper/state I get this

  seq: 31066
    secs: 458
    nsecs: 186000000
  frame_id: world
states: []

I don't get why I am not getting the contact information i.e force and body name. Is there a mistake I am doing ?

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Please open a new question instead of asking in the answer form.

Boris gravatar image Boris  ( 2013-01-09 19:36:16 -0500 )edit

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Asked: 2013-01-08 23:05:11 -0500

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Last updated: Jan 09 '13