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

asked 2020-07-27 08:12:32 -0500

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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 gazebo_ros_bumper 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!

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