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2015-11-10 17:43:54 -0600 asked a question unstable force obtained from Contact Sensor

Hi all,

I'm using the contact sensor plugin in ros ( to get the contact forces from gazebo. It works very well for the contact positions, but it's extremely unstable in the force computation. Basically i have the same problem seen here, i tried adjusting those parameters, but without success. I also tried averaging the last 50 samples, but the result is still highly oscillating.

Someone knows how to get a reliable contact force?

I'm using Ubuntu 12.04, Ros Hydro, Gazebo 1.9.6

2015-06-22 15:26:44 -0600 answered a question Read/Write Torque in a Joint

Hello, I have the same problem, but the tutorial link in the answer has been removed! I cannot find a tutorial that explains how to control joint torques in a gazebo model using gazebo plugins. Someone can help?