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If the cube hits the floor at time t, a first message is published at time t, and then each time step up to (t + 1 second + timestep), and then nothing until the cube moves again. If I change the time step, it's still 1 second.

So I suppose it is a kind of optimization in order to stop simulating non moving objects (the collision shown in the GUI also disappear). I suppose (hope) there is a way to disable this optimization, but I found a work around : if I add a contact sensor to my link, it I get the collision data in both topics (the one of the sensor and /gazebo/default/physics/contacts)

<sensor name='contact_cube' type='contact'>
    <contact>
         <collision>collision</collision>
    </contact>
</sensor>