File: planning_environment_msgs/ContactInformation.msg
# Standard ROS header contains information
# about the frame in which this
# contact is specified
Header header
# Position of the contact point
geometry_msgs/Point position
# Normal corresponding to the contact point
geometry_msgs/Vector3 normal
# Depth of contact point
float64 depth
# Name of the first body that is in contact
# This could be a link or a namespace that represents a body
string contact_body_1
string attached_body_1
uint32 body_type_1
# Name of the second body that is in contact
# This could be a link or a namespace that represents a body
string contact_body_2
string attached_body_2
uint32 body_type_2
uint32 ROBOT_LINK=0
uint32 OBJECT=1
uint32 ATTACHED_BODY=2
Expanded Definition
uint32 ROBOT_LINK=0
uint32 OBJECT=1
uint32 ATTACHED_BODY=2
Header header
uint32 seq
time stamp
string frame_id
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Vector3 normal
float64 x
float64 y
float64 z
float64 depth
string contact_body_1
string attached_body_1
uint32 body_type_1
string contact_body_2
string attached_body_2
uint32 body_type_2