Contact Sensor Plugin does not Provide all information

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Hi, I have the same problem when I access this data through a custom plugin by

auto contact_sensor_data = _ecm.Component<ignition::gazebo::components::ContactSensorData>(entity_);
auto contact = contact_sensor_data->Data().contact()[0];

Then I get that

contact.position_size(); //is non-zero but
contact.wrench_size(); //and contact.normal_size() are zero

Also when echoing the messages as you did, I only get the positions. It would be nice if you find a solution to make an update on this question.

Update: If you installed the simulator using pre-built binaries (from apt for example) the force, normal and dept feature is not working properly due to an issues with dartsim itself. Take a look at this issue comment in particular https://github.com/gazebosim/gz-sim/i.... You basically need to remove everything ign-gazebo related and install a particular version of dartsim (6.13) and build ignition-gazebo (gz-sim) from source to get it working. Hope it helps.

You still wont be able to get the info using gz topic -e "contact_topic" you have to implement a plugin that fetches this data. For this, please reffer to https://answers.gazebosim.org/questio...