Proposal - sensor_msgs/msg/Contact.msg

Description

Simple message for contact sensors, that defines if contact between sensor and some unknown object was detected.

Motivation

I could not find simple message that defines whether there is contact between some defined sensor and other undefined object/objects. Messages like /ros_gz_interfaces/msg/Contact.msg are too complicated and simulator specific for simple contact detection. For contact sensor with force and torque readings geometry_msgs/WrenchStamped.msg would be enough.

Design / Implementation Considerations

# This is a message to hold data from simple contact

std_msgs/Header header      # timestamp is the time the contact was measured
                                        # frame_id is the location of the contact sensor


bool contact                # True if there is contact

Additional Information

I believe that this message could be used for creating future hardware interfaces and broadcasters for ros2_control framework. It also would be helpful for fields where contact sensors are widely used, such as legged robotics.

Start by reviewing the proposed sensor_msgs/msg/Contact.msg definition and its std_msgs/Header dependency, then compare it with geometry_msgs/WrenchStamped.msg and ros_gz_interfaces/msg/Contact.msg. Confirm whether the simple contact-only interface fits common_interfaces and the stated hardware-interface use cases; done means the interface design is agreed and the new message is accepted for implementation.