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how to get info from topic ~/physics/contacts from the world file

asked 2014-08-30 09:42:04 -0500

shpower gravatar image


I created a world file that includes three blocks. I want to know the contact normals between them so I subscribed to ~/physics/contacts topic. On the start when I start the gazebo and echo the topic the topic doesn't show any contacts (publish empty messages) although I can see the blocks. the topic start publishing contact normals after I move the blocks or add another one.

Does somebody know why is that happening and how I can fix that?

Thanks in advance

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answered 2014-09-02 16:24:03 -0500

scpeters gravatar image

ODE will cause objects to auto-disable when they are not moving for a certain period of time. Auto-disable can be turned off with by setting the allow_auto_disable tag to 0 (see friction_demo.world for an example).

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Asked: 2014-08-30 09:42:04 -0500

Seen: 151 times

Last updated: Sep 02 '14