Hi Erik,

There is a ros gazebo_plugin called gazebo_ros_bumper (it's in the
gazebo_plugins package).

If you want an example of how to use it, look at the pr2.model file in
the pr2_description/robots package.

Hope that helps,

-nate

On Wed, Jan 26, 2011 at 6:37 AM, Erik Berglund <erik.berglund@oru.se> wrote:
> Hi,
> first of all, I apologise if this is a trivial question, I'm a complete
> beginner with regards to ROS.
> I've searched the mailing list archives and the documentation without
> finding the answer.
>
> Here's my question:
> How do I get the contacts between objects from Gazebo using ROS?
>
> I've got a vanilla ROS install on Ubuntu 10.10, and on top of that I'm
> running the Shadow Robot ROS interface:
> https://answers.launchpad.net/sr-ros-interface/+faq/1206
>
> I know there's a physics simulation running, because the hand collides with
> objects and I can switch on rendering of contacts.
>
> Is there a simple way to get the contact points between objects?
>
> Regards,
> Erik Berglund
>
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