Class GazeboRosBumper

Defined in File gazebo_ros_bumper.hpp

Inheritance Relationships

Base Type

public gazebo::SensorPlugin

Class Documentation

class GazeboRosBumper : public gazebo::SensorPlugin

A plugin that publishes contact states of a body using contact sensor.

Example Usage:

<plugin name="plugin_name" filename="libgazebo_ros_bumper.so">
  <!-- Change namespace and topics so:
       Bumper state is published to: /custom_ns/custom_topic
  -->
  <ros>
    <namespace>custom_ns</namespace>
    <remapping>bumper_states:=custom_topic</remapping>
  </ros>

  <!-- Set TF frame name. Defaults to world -->
  <frame_name>custom_frame</frame_name>
</plugin>

Public Functions

GazeboRosBumper(): Constructor.

virtual ~GazeboRosBumper(): Destructor.

void Load(gazebo::sensors::SensorPtr _parent, sdf::ElementPtr _sdf)