Hi Pablo,
Gazebo has a contact sensor that will do what you described here, for
example, you can embed an XML block like this in your body:
<body:...>
...
<sensor:contact name="body_contact_sensor">
<geom>your_geom_name</geom>
<updateRate>100.0</updateRate>
<controller:bumper name="body_bumper_controller">
<updateRate>100.0</updateRate>
<interface:bumper name="body_bumper_iface" />
</controller:bumper>
</sensor:contact>
</body:...>
I know the contact sensor works, but have not tested the bumper controller
recently.
John
On Tue, Sep 28, 2010 at 9:46 AM, Pablo Garcia <garciamartine...@gmail.com>wrote:
> Hi all,
>
> I'd like to execute long duration tests at night and I need to know if
> Gazebo provides a way to detect collisions and to save the instant or the
> position of the robot where it happened. Do you know if exist an
> implemented
> function to do something like that?
>
> In other case, do you know a method to estimate collisions through sensors
> data? (odometry, laser, sonar)
>
> thanks in advance,
>
> --
> Pablo García
>
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