I would like to share with you a Waste Bin system for Gazebo Sim (Garden).
The plugin turns a model into a ‘bottomless waste bin’:
Any model that makes contact with the waste bin model is removed from the simulation, either instantly or after a configurable delay.
You can find it in this repository.
See the README in the plugin folder for more info and build instructions.
Further documentation is written in the header file and in the code.
An example SDF, showing the usage of the plugin, is included in the ‘worlds’ folder.
The code was inspired by the ARIAC object disposal plugin for Gazebo classic, and based on the touch plugin and the user commands plugin from gz-sim.