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How to add a Contact Sensor in UR5 to detect collision?

Hello, I need to add a contact sensor to a UR5 Robot that can detect collision between the robot and the ground, table etc. and I want to publish this information to a rostopic. Is there any way to do this or a reference work done before in this regard?

How to add a Contact Sensor in UR5 to detect collision?

Hello, I need to add a contact sensor to a UR5 Robot that can detect collision between the robot and the ground, table table, etc. and I want to publish this information to a rostopic. Is there any way to do this or a reference work done before in this regard? regard?

How to add a Contact Sensor in UR5 to detect collision?

Hello, I need to add a contact sensor to a UR5 Robot that can detect collision between the robot and the ground, table, etc. and I want to publish this information to a rostopic. rostopic. Is there any way to do this or a reference work done before in this regard?

How to add a Contact Sensor in UR5 to detect collision?

Hello, I need to add a contact sensor to a UR5 Robot that can detect collision between the robot and the ground, table, etc. and I want to publish this information to a rostopic. Rostopic. Is there any way to do this or a reference work done before in this regard?