Gazebo | Ignition | Community
Ask Your Question

bumper sensor topic not available

asked 2016-07-25 17:12:23 -0500

ankitvora7 gravatar image


I've added a bumper sensor to husky by adding the following code snippet to 'husky.urdf.xacro'. Now, when I spawn the robot, I can see the front bumper turning orange (which means that the contact sensor has been detected). However, I cannot see the desired topic being published in my topics list. Any idea why would this happen ?

Config: Ubuntu 14.04, ROS - Indigo, Gazebo - 2.2

 <gazebo reference="front_bumper">
  <sensor name="front_bumper_contact" type="contact">
      <!-- When using ROS Indigo and Gazebo 2.2.3, the name specified here
           must be <link name>_collision. -->
    <plugin filename="" name="front_bumper_gazebo_ros_bumper_controller">
edit retag flag offensive close merge delete


Check the code that generates Make sure the bumpterTopicName is the correct xml tag to use.

nkoenig gravatar imagenkoenig ( 2016-07-26 08:53:46 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2016-07-28 16:44:02 -0500

ankitvora7 gravatar image

updated 2016-07-28 16:44:30 -0500

Turns out, the <collision> tag (front_bumper_collision) was not defined in my urdf. I defined that within the 'front_bumper' link and everything worked out fine :)

edit flag offensive delete link more
Login/Signup to Answer

Question Tools

1 follower


Asked: 2016-07-25 17:11:01 -0500

Seen: 1,341 times

Last updated: Jul 28 '16