I am trying to simulate a snake robot that is navigating obstacles.
In the process, i need to know when a part or link of the robot hits an obstacle and how much force it experiences from the contact.
To accomplish this, i am using "contact plugin" but all i get is
a log entry where topic name is different from the topic name i defined: [gzserver-1] [INFO] [1714412192.556439992] [link1_bumper_plugin]: Publishing contact states to [/bumper_states]
and no data upon quering this new topic name:
header:
stamp:
sec: 417
nanosec: 723000000
frame_id: link_2
states: []
The code i use to setup gazebo reference is below.
Hei Community,
I am trying to simulate a snake robot that is navigating obstacles.
In the process, i need to know when a part or link of the robot hits an obstacle and how much force it experiences from the contact.
To accomplish this, i am using "contact plugin" but all i get is
a log entry where topic name is different from the topic name i defined: [gzserver-1] [INFO] [1714412192.556439992] [link1_bumper_plugin]: Publishing contact states to [/bumper_states]
and no data upon quering this new topic name: header: stamp: sec: 417 nanosec: 723000000 frame_id: link_2 states: []
The code i use to setup gazebo reference is below.
Please can you help get this contact sensor working so i can get contact force and other information from the plugin.
Code Repository: https://github.com/dashanan13/snake-robot-sim/tree/main Branch: 3obstacles-contactsensor
My URDF files, controller file and ROS control file are listed below.