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get contact forces from model plugin


I'm trying to get the contact forces between my robot and the rest of the world. In this tutorial, they explain how to do do it using by using a contact sensor and by writing a dedicated plugin.

However, I do already have a plugin to control my robot (it's a model plugin), and I would like to get access on current collision forces by calling some function(s) whenever I want (for example at each call of "OnUpdate" of the model).

Of course, I might write a separate plugin coupled with a contact sensor, and then use a message passing protocol, but it seems a bit complicated, and I'd rather having everything in a single program.

Do you have some idea how I could do it?

Thank you very much in advance