Hello everyone,
I am trying to create a gazebo system plugin that publishes physics contact information in a /gazebo_contacts ros2 topic. The code is available [here](https://github.com/nzlz/gazebo_ros_pkgs/blob/ros2_contact_plugin/gazebo_plugins/src/gazebo_ros_contact.cpp).
My issue is that I'm not able to make the subscriber callback work properly. Basically, I don't receive any message in my ros2 topic. I have seen that in the latest plugins the world update event is being used, but I don't know how that would apply to a topic subscription scenario.
The [conventional solutions](http://gazebosim.org/tutorials?tut=topics_subscribed), which is to add a while (true) loop after the subscription, is not working for me. Gazebo is not able to finish the launch process.
What could be a possible solution to this?
Thanks in advance!
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