climbing stairs ROS robot

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Hey guys,

right now im working in building a robot which can climb stairs. Right now i have no idea how i could simulate the wheel moving up at the wall. Is there already any robot package doing this? My last idea was to check if there is a collision of the front wheels with a static object and if so it should move upwards. Is this the right way? If yes how can i check the collision?

Thank you :)