Questions tagged [contact]
The contact tag has no usage guidance.
23 questions
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Are there any surface pad sensors which give the X and Y coordinates of where it is pressed? [closed]
I am trying to create a kids toy where the user presses on a pad and stuff happens (not entirely laid out) depending on where the user presses. X, Y coordinates are sent to the microcontroller ...
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getting contact force on gazebo
I am running a husky robot on gazebo with ROS1. How to get the contact force for the wheels?
I tried this tutorial. But it does not give contact forces. I need something like given here.
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Contact Support in Indonesia
I have trouble in using path from ROS. Does ROS have contact support in Indonesia? or someone who can help me with this?
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44
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Gazebo11 DART Sticking Problem
Dear Gazebo Community,
I am running into a weird "sticking" problem when simulating grasping with DART 6 and Gazebo 11. The problem is that upon collision sometimes contact forces get really ...
awck
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11
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How does ODE determine contact points in Gazebo?
I was looking at the contact points for the Atlas in the DRCsim package. Each foot has 4 contact points at each vertex of the rectangle. I'd like to know how these points are determined. I've tried ...
Mav14
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5
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Some contacts not detected
Hello,
I use a ModelPlugin to check collisions between my robot and some cubes around. I use the ContactManger of the world attached to the model of the robot. This works most of the time, but I ...
debz
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2
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2
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Force base_link to stay at 0
My robot has a disc with a radius of 1.25m in contact with the ground. Apparently this is not handled very well by the simulator and the robots drifts slowly with time. How to force base_link to stay ...
mehdi
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2
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10
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What is wrong with my Contact Sensor Code?
Hi,
For days I am trying to get my bumper working can you please tell me how to correct the following code?
I tried to get the answer on ros.answers already till I figured out yesterday that gazebo ...
cyborg_x1
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body acceleration in contact between two bodies
Hey,
I am trying to simulate a wheel(cylinder) on a surface (ground_plane). I launch the gazebo with sdf file which contains both models and give it a 3 seconds to get rest with parameters Kp =380 and ...
shpower
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6
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Contact sensor error when using Gazebo 2.2.3
I have just moved my code from Ubuntu 12.04 LTS and ROS Hydro to Ubuntu 14.04 LTS and ROS Indigo. My robot is using Gazebo contact sensors with the libgazebo_ros_bumper.so plugin. The sensors worked ...
Jim Rothrock
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Bumper or Contact Plugin
Hey everyone,
I am trying to implement some contact sensors for my robot model. I use the drcsim package as an orientation for available plugins.
I am wondering whether to use the gazebo_ros_bumper or ...
Christoph
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Possible bug with contact detection, values change between collision1 and collision2
Hi,
I am using Gazebo 1.8.0 (but also experienced this behavior with older Gazebo versions). I am subscribing to a contact sensor topic, and just printing out the contacts collision1 and collision2 ...
AndreiHaidu
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How to set up a callback for contact event? ( ConnectContact() being deprecated )
Hi,
Is there a new way to set up a callback function in case of a contact, similar to the deprecated ConnectContact()? Or I have to add a ContactSensor to the model?
I am using Gazebo 1.8.0.
Thanks,
...
AndreiHaidu
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How to get stable foot contacts when a biped robot is standing still?
I'm simulating a biped robot in gazebo 1.7 but the foot contacts showed by the simulator are intermittent also when the robot is standing still.
DRCSim Atlas simulation shows constant and stable ...
luca
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Gazebo 1.6.1 Bullet rolling friction, contact parameters implemented?
Hi,
To which degree is Bullet implemented in Gazebo 1.6.1 from the sdf description page? I tried <rolling_friction> and <...
AndreiHaidu
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7
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DRCSIM: simulated force measurements in wrong coordinates
If I am not mistaken, the current simulated force torque measurements are in the inertial frame (world coordinates), referenced to the center of mass of the foot.
For the DRC robot, the simulated ...
cga
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The order of collision1~2 objects from contact sensor
From contact sensor, we can get contact objects (gazebo::physics::Contact).
The contact object includes followings.
...
Daehyung Park
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10
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What is the meaning of contacts returned from GetContact (contact sensor)?
When I use Contact sensor in Gazebo 1.3, I am basically using following code.
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Daehyung Park
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7
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How to convert world contact positions to robot's local coordinate?
I am implementing contact plugin on PR2. I found the contact sensor returns contact positions based on world coordinate.
Since robot can move around and my controller only accepts contact positions ...
Daehyung Park
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2
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6
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Contact sensor: 6 axis force/torque sensing
It would be nice to extend the contact sensing tutorial to show how to add up all contact forces on a body to get an aggregate JointWrench (3 forces and 3 torques). This would allow the contact sensor ...
cga
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7
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changing contact joint parameters during simulation
Hi,
I am trying to change the contact joint parameters of a model / link after it is loaded in Gazebo, from a plugin.
The idea is that I am spawning a model with a lot of sphere links, which act like ...
AndreiHaidu
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39
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contact force sensing
It seems that there is a bump/force sensor that works for contact on a link. However, does this scale or is there another implemented sensor that would allow me to get contact forces all over a robot ...
mkillpack