<!-- bumper -->
<joint name="bumper_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="0.05 0 0.02" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="bump_sensor"/>
</joint>
<link name="bump_sensor">
<collision name="bump_sensor_collision">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<gazebo reference="bump_sensor">
<sensor name="main_bumper" type="contact">
<selfCollide>true</selfCollide>
<alwaysOn>true</alwaysOn>
<updateRate>15.0</updateRate>
<material>Gazebo/Red</material>
<contact>
<collision>bump_sensor_collision_collision</collision>
</contact>
<plugin name="gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
<bumperTopicName>bumper_vals</bumperTopicName>
<frameName>world</frameName>
</plugin>
</sensor>
</gazebo>