What does size of states[] mean in ContactsState Message?

Hello,

I am trying to simulate a collision of my robot with a wall. I want to record the force over time during collision. I implemented the gazeborosbumper sensor. I get a message when collision occurs. But the states Array always has about 20 Contact States. I tried tuning parameters as max_contacs, kp, kd and some more. Can someone explane why there are so many contact states? What do they mean?

Thanks!

Asked by val on 2020-07-27 08:12:32 UTC

Comments

Hi, did you figure this out?

Asked by awck on 2021-02-03 09:34:39 UTC

Answers

The state array in the gazebo_ros_bumper plugin seems to be an array of contacts for each timestamp. Thus, the 20 contact states are the contact states in the span of a period of time.

Asked by tanyouliang on 2021-06-27 01:16:07 UTC