Bool Sensor¶
The boolean sensor plugin attaches to a single body of a model and publishes true std_msgs/Bool if something collides with it, and false otherwise.
This can be used on solid bodies (default), or sensor bodies (sensor: true).
The plugin also respects layers. For example a sensor body that exists only on layer “robot” will only emit true if an entity on layer :robot” collides with it.
The sensor plugin “latches” collisions, so if there is a collision since the previous publishing, it will always publish at least one true.
plugins:
# required, specify BoolSensor type to load the plugin
- type: BoolSensor
# required, name of the plugin, unique within the model
name: MyBoolSensor
# The ROS topic name to publish on ("/detector_out")
# This will respect model namespaces
# e.g. if this model has namespace "foo", it will publish on "/foo/detector_out"
topic: detector_out
# The update rate in hz
update_rate: 10
# The model body to detect collisions on
# Currently only supports collisions on a single body
body: detector