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why the contact sensor in atlas robot can not run in my model?

asked 2013-04-01 15:26:50 -0600

lugd1229 gravatar image

updated 2013-04-01 15:30:56 -0600

I define the contact sensors like atlas robot:

<gazebo reference="test_link7">
  <sensor name="r_finger3_contact_sensor" type="contact">
      <update_rate>1.0</update_rate>
      <always_on>1</always_on>
      <contact>
        <collision>test_collision7</collision>
        <topic>/test_collision7_contact</topic>
      </contact>
    </sensor>
  </gazebo>
  <gazebo reference="test_link3">
      <sensor name="l_finger3_contact_sensor" type="contact">
      <update_rate>1.0</update_rate>
      <always_on>1</always_on>
      <contact>
        <collision>test_collision3</collision>
        <topic>/test_collision7_contact</topic>
      </contact>
    </sensor>
  </gazebo>

but when I run the model, gazebo show me that the sensors can not be found,so at last,I have to define the sensors at every links. why it can run in atlas and not in my model?

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Comments

Are you using a plugin? In addition to defining the sensor in the urdf, Atlas processes much of the contact sensor data in the plugin AtlasPlugin.cpp in the drcsim repository.

scpeters gravatar imagescpeters ( 2013-04-12 00:12:18 -0600 )edit

2 Answers

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answered 2013-04-12 07:13:33 -0600

skhan gravatar image

It seems that you are not using plugin. So to view sensor output you must need to echo the contact sensor topic

$ gztopic list

Choose the right topic, then

$ gztopic echo /gazebo/default/physics/contacts

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answered 2013-04-11 10:00:25 -0600

nkoenig gravatar image

What is the exact error message produced by Gazebo? Can you also post the complete SDF file?

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Asked: 2013-04-01 15:26:50 -0600

Seen: 106 times

Last updated: Apr 12 '13