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