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Contact sensor

plugin
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<plugin
      filename="gz-sim-contact-system"
      name="gz::sim::systems::Contact">
</plugin>
sensor add to link
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<sensor name='sensor_contact' type='contact'>
    <contact>
        <collision>collision_name</collision>
        <topic>/test_contact</topic>
    </contact>
    <always_on>1</always_on>
    <update_rate>1000</update_rate>
</sensor>

Contacts msg

The plugin return gz.msgs.Contacts message that can contain multiple gz.msgs.Contact msg, each Contact describe one collision interaction between two objects

gz.msgs.Contact
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message Contact {
  .gz.msgs.Header header = 1;
  .gz.msgs.Entity collision1 = 2;
  .gz.msgs.Entity collision2 = 3;
  repeated .gz.msgs.Vector3d position = 4;
  repeated .gz.msgs.Vector3d normal = 5;
  repeated double depth = 6;
  repeated .gz.msgs.JointWrench wrench = 7;
  .gz.msgs.Entity world = 8;
}

Todo : explain the contact message

Demo

  • Drive the vehicle into the wall
  • Add Contact sensor in the wall link
  • Use Arrow key to drive the vehicle (Key publisher need to be focus)
  • Listen to /wall_contact topic

World contact demo

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