How to know the vector of force when my model collides a wall

I want to make a simulation in Gazebo about what will happen when a satellite hit an irregular objection like a comet in space. I used the "spacedyn" in MATLAB to calculate the dynamics of satellite. But "spacedyn" needs to know the force when satellite hit the objection. I don't know how to get the force from Gazebo. However, it seems like that Gazebo won't return the collision force.

Asked by FORGRESS on 2019-05-22 02:59:36 UTC

Comments

There is a function in Gazebo API that gives you a vector of the force applied to the link.

Asked by kumpakri on 2019-05-24 10:01:25 UTC

Answers

I think you can use a Contact Sensor for this. You could attach it either to your satellite or your colliding object model. You might have to write a dedicated plugin depending on what your use case is, but this sensor returns Contact informations, which include the 2 collisions implied in the contact and the force that gets applied at the point of contact. This tutorial explains more about the contact sensor and how to write a plugin for it Cheers

Asked by thibaultN on 2019-05-24 02:48:06 UTC