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Reading bumper state from PR2

asked 2011-03-10 00:07:15 -0600

erikjber gravatar image

updated 2021-09-27 09:00:39 -0600

lucasw gravatar image

System: Ubuntu 10.10, kernel 2.6.35-27, 64 bit.
ROS: Latest diamondback from the repositories.

I'm following the PR2 tutorial here:

Everything works fine, I'm mostly interested in the gripper and I can open and close it using rostopic.

What I can't do is read the state of the bumper: when I execute rostopic echo l_gripper_l_finger_bumper/state I get the following error message:

WARNING: no messages received and simulated time is active.
Is /clock being published?

Executing rostopic echo /clock indicates that the clock is indeed being published.

Has anyone else gotten the bumper plugin to work? Any hints/tips?

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I can't find any reference to "bumper" on that page what makes you think that topic is being publshed?
tfoote gravatar image tfoote  ( 2011-03-10 13:01:39 -0600 )edit
I thought that since it is defined in the relevant .urdf.xarco and since the topic appears, it would be. But I see that I'm wrong. How can I enable the topic?
erikjber gravatar image erikjber  ( 2011-03-14 22:33:27 -0600 )edit

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answered 2011-03-25 06:46:43 -0600

hsu gravatar image

Hi, The plugin was not publishing if no contacts exists for the referenced body. I patched the plugin so bumper publishes regardless it is in contact or not, please see">ticket #4872 and">patch.

sorry for the confusion.

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Asked: 2011-03-10 00:07:15 -0600

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Last updated: Mar 25 '11