Hello everyone,

I am trying to create a gazebo system plugin that publishes physics contact information in a /gazebo_contacts ros2 topic. The code is available here.

My issue is that I'm not able to make the subscriber callback work properly. Basically, I don't receive any message in my ros2 topic. I have seen that in the latest plugins the world update event is being used, but I don't know how that would apply to a topic subscription scenario.

The conventional solutions, which is to add a while (true) loop after the subscription, is not working for me. Gazebo is not able to finish the launch process.

What could be a possible solution to this?

Thanks in advance!