This node has two functionalities:
- Forwards collisions between any two models in gazebo (at least one model must be dynamic).
- Monitors collisions between two given models then republishes its timestamp in ROS.
Parameters (see launch file for an example):
gazebo_physics_contact_topic_name: gazebo topic where contacts are published. Usually follows the pattern
/physics/contacts. Check your world file to find out the world name. Or check published gazebo topics with
gz topic -l
collisions_timestamp_topic_name: ROS topic where collision timestamps will be published.
robot_model_name: first model name to consider in monitored collisions published in above topic. It is used as a wildcard, partial names can be used.
actor_model_name: second model name.
collision_names_topic_name: All collisions are published in this topic name.