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I need to add an obstacle to the environment after a manipulator robot has gotten into a certain configuration. I cannot add the obstacle initially as it hinders the manipulator to get to the right configuration. What's the intended way to do this in Ros?

For neater code. (this is a direct copy of what you wrote.)

<robot xmlns:xacro="http://ros.org/wiki/xacro"> 
<xacro:macro name="gazebo_fsensor_link_v0"> 
<gazebo reference="fsensor_link"> 
  <mu1>0.2</mu1> 
  <mu2>0.2</mu2> 
  <selfcollide>true</selfcollide> 
  <material>Gazebo/Red</material> 
  <sensor type="contact" name="fsensor_link_contact_sensor" &gt;="" <!--="" <geom="">sensor_link_geom</geom> -->
    <always_on>true</always_on> 
    <update_rate>100</update_rate> 
    <contact> 
      <collision>fsensor_link_collision</collision> 
    </contact> 
    <plugin name="fsensor_link_plugin" filename="libgazebo_ros_bumper.so">
      <bumpertopicname>fsensor_link_sensor_state</bumpertopicname> 
      <framename>fsensor_link</framename> 
    </plugin> 
  </sensor> 
</gazebo> 
</xacro:macro> 
</robot>

I'm having the exact same issue

I have the same issue. The contacts are there in gazebo7, the collisions have an effect on the robot configuration as it should, but the ContactSensor messages have their timestamp set to zero and the 'states' array (where all the contacts should be) is empty.

At the bottom of my .cpp file I have

// make the controller available to the library loader
PLUGINLIB_EXPORT_CLASS(hiqp::ROSKinematicsController, controller_interface::ControllerBase)

but when I run

rosservice call /controller_manager/list_controller_types

the ROSKinematicsController does not appear.

Shall this be sufficient for loading a controller as a plugin, or have I forgotten something?

The commas must be exchanged for line-breaks as such:

rosservice call /mynamespace/addTask \
'name: "mytask"
type: "TaskPoP"
behaviour: ["TaskBehFO", "10"]
priority: 1
visibility: 1
parameters: ["gripper_r_base", "0", "0", "0.1", "gripper_l_base", "1", "0", "0", "0.2"]'

My service (AddTask.srv) is defined as:

string       name          
string       type         
string[]     behaviour     
uint16       priority     
bool         visibility   
string[]     parameters

and my rosservice call is

rosservice call /mynamespace/addTask \
'name: "mytask", type: "TaskPoP", behaviour: ["TaskBehFO", "10"], priority: 1, visibility: 1, parameters: ["gripper_r_base", "0", "0", "0.1", "gripper_l_base", "1", "0", "0", "0.2"]'

and I get this error message:

yaml.parser.ParserError: while parsing a block mapping
  in "<string>", line 1, column 1:
    name: "mytask", type: "TaskPoP", ... 
    ^
expected <block end>, but found ','
  in "<string>", line 1, column 15:
    name: "mytask", type: "TaskPoP", behaviour: [" ...

What does the error message mean and how do I resolve it?

My service (AddTask.srv) is defined as:

string       name          
string       type         
string[]     behaviour     
uint16       priority     
bool         visibility   
string[]     parameters

and my rosservice call is

rosservice call /mynamespace/addTask \
'name: "mytask", type: "TaskPoP", behaviour: ["TaskBehFO", "10"], priority: 1, visibility: 1, parameters: ["gripper_r_base", "0", "0", "0.1", "gripper_l_base", "1", "0", "0", "0.2"]'

and I get this error message:

yaml.parser.ParserError: while parsing a block mapping
  in "<string>", line 1, column 1:
    name: "mytask", type: "TaskPoP", ... 
    ^
expected <block end>, but found ','
  in "<string>", line 1, column 15:
    name: "mytask", type: "TaskPoP", behaviour: [" ...

What does the error message mean and how do I resolve it?