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

asked 2020-07-27 08:12:32 -0600

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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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Hi, did you figure this out?

awck ( 2021-02-03 08:34:39 -0600 )edit

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answered 2021-06-27 01:16:07 -0600

tanyouliang
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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.

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Asked: 2020-07-27 08:12:32 -0600

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Last updated: Jun 27 '21

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

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