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Gazebo Fortress Contact Sensor disable collision

asked 2023-01-11 22:36:16 -0600

Hokul gravatar image

updated 2023-01-11 23:35:35 -0600

Hey I would like to create a contact sensor which will detect collisions with it, but not actually collide or interfere with any moving objects. Just send information that it has been collided with.

Currently have the following code for it, but the model seems to stop when it hits this object.

<model name="wheel_sensor">
  <static>true</static>
  <pose>0.4 -4 6.9 0 0 0</pose>
  <link name="wheel_entry_sensor">
    <pose/>
    <inertial>
    <mass>1.14395</mass>
    <inertia>
        <ixx>9.532917</ixx>
        <ixy>0</ixy>
        <ixz>0</ixz>
        <iyy>0.023832</iyy>
        <iyz>0</iyz>
        <izz>9.556749</izz>
      </inertia>
    </inertial>
    <visual name="visual">
      <geometry>
        <box>
          <size>0.2 0.2 0.9</size>
        </box>
      </geometry>
    </visual>
    <collision name="collision">
      <geometry>
        <box>
          <size>0.2 0.2 0.9</size>
        </box>
      </geometry>
      <surface>
        <contact>
          <collide_without_contact>true</collide_without_contact>
        </contact>
      </surface>
    </collision>
    <sensor name='entry_sensor' type='contact'>
      <contact>
        <topic>wheel_entry</topic>
        <collision>collision</collision>
      </contact>
    </sensor>
  </link>
</model>
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answered 2023-01-12 13:02:29 -0600

alex-ssom gravatar image

To the best of my knowledge, this is unavoidable. The collision is detected and has an impact on the physics of the simulation.

The best way for your collision to have little impact is to remove the object you collided with from the simulation programmatically but I believe that's not what you want to achieve. See: https://community.gazebosim.org/t/rei... for detail on how to do that.

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Cheers for the quick response, that was very helpful. I'll be able to try some different solution now :).

Hokul gravatar imageHokul ( 2023-01-12 16:23:28 -0600 )edit
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Asked: 2023-01-11 22:36:16 -0600

Seen: 208 times

Last updated: Jan 12