Bumper plugin only working with single collision tag

asked 2019-05-08 10:42:44 -0600

Eisenhorn gravatar image

Hello,

I have noticed that the bumper pluging (libgazebo_ros_bumper.so) seems only to work under the following conditions:

  • associated link has only 1 collision tag
  • the collision tag has only 1 geometry tag
  • the geometry is not a mesh but a simple geomtry

Otherwise i will only recieve an empty state:

header: 
  seq: 689
  stamp: 
    secs: 3
    nsecs: 561000000
  frame_id: "map"
states: []

Instead of:

collision1_name: "box::link::box_collision"
collision2_name: "ground_plane::link::collision"
wrenches: 
  - 
    force: 
      x: 7.92708825733
      y: 24.4406000135
      z: 18.7830520646
    torque: 
      x: 2.82877397447
      y: 5.42798190362
      z: -8.25675587809
total_wrench: 
  force: 
    x: 7.92708825733
    y: 24.4406000135
    z: 18.7830520646
  torque: 
    x: 2.82877397447
    y: 5.42798190362
    z: -8.25675587809
contact_positions: 
  - 
    x: -0.755920163078
    y: -0.970777111911
    z: -2.17061127927e-06
contact_normals: 
  - 
    x: 0.0
    y: 0.0
    z: 1.0
depths: [2.1706112792729826e-06]

Am I doing something wrong, or is this a limitation of the plugin?!

BR

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