In this video, we answer the following question: http://answers.gazebosim.org/question/20432/ros-gazebo-detecting-collision-with-a-static-object-using-contact-sensor/

  • We explain how to set up a robot so that you can detect collisions with static or non-static objects.
  • We concentrate on explaining the strange way in which URDFs are converted to SDF and the naming problems it gives.