How do you use contact sensor to make a bridge from Gazebo to ROS2 ?

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Environment

• OS Version: Ubuntu 22.04 precisely using WSL2 through windows 10
• Source or binary build? Source build, branch: ROS2 latest commit from Aditya Panda 22/03 with gazebo garden / Tried also the humble branch with gazebo fortress
• ROS version: humble

Description

• Expected behavior: Doing a bridge from gz::msgs::Contact to ros_gz_interfaces/msg/Contact using or ignition::msgs::Contact to ros_gz_interfaces/msg/Contact depending of the gazebo version tested

• Actual behavior: Last errors were: The bridge was launched but couldn't echocause of:

  ros2 topic echo \topic_name I received the error: The message type 'ros_gz_interfaces/msg/Contacts' is invalid

Mostly, the errors were:

[WARN] [1681217678.043852626] [ros_gz_bridge]: Failed to create a bridge for topic [/chatter] with ROS2 type [ros_gz_interfaces/msg/Contact] to topic [/chatter] with Gazebo Transport type [ignition.msgs.Contact]

Where the bridge didn't even start.

Steps to reproduce

1. Install Gazebo Garden / Fortress
2. Install ROS2 Humble
3. Launch for instance (here with gazebo garden), commands change if fortress being used: gz sim shapes.sdf It will open Gazebo with simple sdf model. Actually, I'm using my own sdf, if you have your own it'll be better to ensure that in your sdf, you have the right plug-ins initialized. For instance, for the contact plug-in, i'm interested:

<!-- Contact plug-in --> <plugin filename="ignition-gazebo-contact-system" name="ignition::gazebo::systems::Contact"> </plugin> in fortress*

or

<!-- Contact plug-in --> <plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact"> </plugin> in garden

Written within the world scope. And:

<sensor name='object_contact_sensor' type='contact'> <contact> <collision>coude_collision</collision> </contact> </sensor>

Written within the link scope of the model I want the contacts. With coude_collision, the collision name of the link.

1. Launch the bridge: ros2 run ros_gz_bridge parameter_bridge /chatter@ros_gz_interfaces/msg/Contacts[gz.msgs.Contacts Still using garden
2. Launch an echo : ros2 topic echo --once /chatter

I can echo with gazebo like: gz topic -e -t topic_name But not with ROS2

Output

Would give your more in depth output.