gazebo-contactMonitor
This node has two functionalities:
- Forwards collisions between any two models in gazebo (at least one model must be dynamic).
- Monitors collisions between two given models then republishes its timestamp in ROS.
Parameters (see launch file for an example):
-
gazebo_physics_contact_topic_name
: gazebo topic where contacts are published. Usually follows the pattern/gazebo/
[world name]/physics/contacts
. Check your world file to find out the world name. Or check published gazebo topics withgz topic -l
-
collisions_timestamp_topic_name
: ROS topic where collision timestamps will be published. -
robot_model_name
: first model name to consider in monitored collisions published in above topic. It is used as a wildcard, partial names can be used. -
actor_model_name
: second model name. -
collision_names_topic_name
: All collisions are published in this topic name.