Hi all,

Why the following part commented out in gazebo_ros_bumper.cpp

  /*
  if (myFrame)
  {
    frame_pose = myFrame->GetWorldPose();  //-this->myBody->GetCoMPose();
    frame_pos = frame_pose.pos;
    frame_rot = frame_pose.rot;
  }
  else
  */
  {
    // no specific frames specified, use identity pose, keeping
    // relative frame at inertial origin
    frame_pos = math::Vector3(0, 0, 0);
    frame_rot = math::Quaternion(1, 0, 0, 0);  // gazebo u,x,y,z == identity
    frame_pose = math::Pose(frame_pos, frame_rot);
   }

So, it seems we always use the world frame.

Some discussion on this was found here but it does not answer my question.

Thanks in advance