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Accurate bumper simulation


I'm trying to simulate a bumper as 'real' as possible. I would like to have the 3D model of the bumper move when it bumps into an object and then measure the position or even have a switch inside the bumper to trigger a message with the bumper information.

Is this possible? Is there a special type of joint that I should use? I want to use ROS, so I can't use the latests Gazebo versions.

Any help is appreciated!