Learning Robotics using Python - Second Edition

Contact sensor plugin

Here is the code snippet for the contact sensor on our robot. If the base of the robot collides with any objects, this plugin will trigger. It is commonly attached to the base_link of the robot, so whenever the bumper hits any object, this sensor will be triggered:

     <gazebo reference="base_link"> 
       <mu1>0.3</mu1> 
       <mu2>0.3</mu2> 
       <sensor type="contact" name="bumpers"> 
         <always_on>1</always_on> 
         <update_rate>50.0</update_rate> 
         <visualize>true</visualize> 
         <contact> 
           <collision>base_footprint_collision_base_link</collision> 
         </contact> 
       </sensor> 
     </gazebo>