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What collision name is supposed to be passed to contact sensor?

In this tutorial it seems, that you are supposed to put the name of the collision tag of the link we want to detect the collision of.

When you have the model in URDF and spawn it into the gazebo world, the collision tab of the link would bear name like <link_name>_<joint_type>_lump__<collision_tag_name>_collision. In this answer, the author uses this name to pass to the contact sensor.

Neither of the options works for me, so I can't verify which one is right.