Gazebo给机器人添加碰撞检测属性bumper

参考：GAZEBO探索——给机器人加上bumper_gazebo bumper-CSDN博客

gazebo的bumper使用_gazebo bumper-CSDN博客
使用URDF在Gazebo中搭建碰撞仿真(bumper)_gazebo bumper-CSDN博客

gazebo官网中bumper插件介绍

Gazebo : Tutorial : Gazebo plugins in ROS

添加的到.urdf文件中的代码，参考了"pr2.urdf"文件pycram/resources/robots/pr2.urdf at c2ec6fa803382a25dd04113bc536f11a9e6c7ba4 · cram2/pycram · GitHub

  <gazebo reference="base_link">
    <sensor name="bumper" type="contact">
      <update_rate>30.0update_rate>
      <always_on>truealways_on>
      <contact>
        <collision>base_link_fixed_joint_lump__quadcotper__collision_collisioncollision>
      contact>
      <plugin name="gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
          <alwaysOn>truealwaysOn>
          <updateRate>30.0updateRate>
          <bumperTopicName>bumper_statesbumperTopicName>
          <frameName>bumper_linkframeName>
          <visualize>truevisualize>
      plugin>
    sensor>
  gazebo>