Ros Bumper Plugin
[Gazebo ROS Dynamic Plugins]

A controller that returns bump contacts. More...

Collaboration diagram for Ros Bumper Plugin:

Classes
class	gazebo::GazeboRosBumper
	A Bumper controller. More...

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Detailed Description

A controller that returns bump contacts.

    <model:physical name="camera_model">
      <body:empty name="camera_body_name">
          <sensor:contact name="finger_tip_l_left_contact_sensor">
          <updateRate>15.0</updateRate>
          <geom>pr2_finger_tip_l_collision_geom</geom>
          <controller:gazebo_ros_bumper name="finger_tip_l_contact_controller" plugin="libgazebo_ros_bumper.so">
            <alwaysOn>true</alwaysOn>
            <updateRate>15.0</updateRate>
            <topicName>finger_tip_l_contact</topicName>
            <frameName>finger_tip_l_contact</frameName>
            <interface:bumper name="dummy_bumper_iface" />
          </controller:gazebo_ros_bumper>
        </sensor:contact>
      </body:empty>
    </model:phyiscal>