diff --git a/Packages/UnitySensors/Runtime/Scripts/DataType/Sensor/ContactData.cs b/Packages/UnitySensors/Runtime/Scripts/DataType/Sensor/ContactData.cs
new file mode 100644
index 00000000..3c06aae9
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/DataType/Sensor/ContactData.cs
@@ -0,0 +1,13 @@
+using UnityEngine;
+
+namespace UnitySensors.DataType.Sensor
+{
+    [System.Serializable]
+    public struct ContactData
+    {
+        public string colliderName;
+        public Vector3 position;
+        public Vector3 normal;
+        public Vector3 force;
+    }
+}
diff --git a/Packages/UnitySensors/Runtime/Scripts/DataType/Sensor/ContactData.cs.meta b/Packages/UnitySensors/Runtime/Scripts/DataType/Sensor/ContactData.cs.meta
new file mode 100644
index 00000000..f5247915
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/DataType/Sensor/ContactData.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 19d1bbf628364466acd604951487b7a0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
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diff --git a/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IContactDataInterface.cs b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IContactDataInterface.cs
new file mode 100644
index 00000000..45efcf24
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IContactDataInterface.cs
@@ -0,0 +1,17 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+using UnitySensors.DataType.Sensor;
+
+namespace UnitySensors.Interface.Sensor
+{
+    public interface IContactDataInterface
+    {
+        public bool isContact { get; }
+        public Vector3 totalForce { get; }
+        public Vector3 totalTorque { get; }
+        public Vector3 localTotalForce { get; }
+        public Vector3 localTotalTorque { get; }
+        public IReadOnlyList<ContactData> contacts { get; }
+    }
+}
diff --git a/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IContactDataInterface.cs.meta b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IContactDataInterface.cs.meta
new file mode 100644
index 00000000..b08c695a
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IContactDataInterface.cs.meta
@@ -0,0 +1,11 @@
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+guid: 551179d557c14100b6453a754f07f0b9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IWrenchInterface.cs b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IWrenchInterface.cs
new file mode 100644
index 00000000..f8902595
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IWrenchInterface.cs
@@ -0,0 +1,13 @@
+using UnityEngine;
+
+namespace UnitySensors.Interface.Sensor
+{
+    /// <summary>
+    /// A force/torque pair expressed in the sensor's local frame.
+    /// </summary>
+    public interface IWrenchInterface
+    {
+        public Vector3 force { get; }
+        public Vector3 torque { get; }
+    }
+}
diff --git a/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IWrenchInterface.cs.meta b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IWrenchInterface.cs.meta
new file mode 100644
index 00000000..1b1c2729
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IWrenchInterface.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: de3dd290f0a6464fb5f084d7ecc1ea2d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleVariant: 
diff --git a/Packages/UnitySensors/Runtime/Scripts/Interfaces/Std/IBoolStateInterface.cs b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Std/IBoolStateInterface.cs
new file mode 100644
index 00000000..198355e5
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Std/IBoolStateInterface.cs
@@ -0,0 +1,7 @@
+namespace UnitySensors.Interface.Std
+{
+    public interface IBoolStateInterface
+    {
+        public bool state { get; }
+    }
+}
diff --git a/Packages/UnitySensors/Runtime/Scripts/Interfaces/Std/IBoolStateInterface.cs.meta b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Std/IBoolStateInterface.cs.meta
new file mode 100644
index 00000000..e680dd1d
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Interfaces/Std/IBoolStateInterface.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact.meta b/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact.meta
new file mode 100644
index 00000000..79557cb1
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: de03d6b510604e90981c88a5b984d0da
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactEventRelay.cs b/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactEventRelay.cs
new file mode 100644
index 00000000..2afd8951
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactEventRelay.cs
@@ -0,0 +1,38 @@
+using UnityEngine;
+
+namespace UnitySensors.Sensor.Contact
+{
+    /// <summary>
+    /// Forwards OnCollision* messages to a ContactSensor that does not sit on the
+    /// GameObject Unity delivers them to. Added automatically by ContactSensor; not meant
+    /// to be attached by hand.
+    /// </summary>
+    [AddComponentMenu("")]
+    public class ContactEventRelay : MonoBehaviour
+    {
+        private ContactSensor _sensor;
+
+        /// <summary>Which sensor this relay feeds, so duplicates can be spotted.</summary>
+        public ContactSensor Target { get => _sensor; }
+
+        public void Initialize(ContactSensor sensor)
+        {
+            _sensor = sensor;
+        }
+
+        private void OnCollisionEnter(Collision collision)
+        {
+            if (_sensor != null) _sensor.HandleRelayedCollisionEnter(collision);
+        }
+
+        private void OnCollisionStay(Collision collision)
+        {
+            if (_sensor != null) _sensor.HandleRelayedCollisionStay(collision);
+        }
+
+        private void OnCollisionExit(Collision collision)
+        {
+            if (_sensor != null) _sensor.HandleRelayedCollisionExit(collision);
+        }
+    }
+}
diff --git a/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactEventRelay.cs.meta b/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactEventRelay.cs.meta
new file mode 100644
index 00000000..6c3809bf
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactEventRelay.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e853ad165a164f55b26ebb55f8b91ca8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactSensor.cs b/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactSensor.cs
new file mode 100644
index 00000000..7a2d1c6c
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactSensor.cs
@@ -0,0 +1,213 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+using UnitySensors.Attribute;
+using UnitySensors.DataType.Sensor;
+using UnitySensors.Interface.Sensor;
+using UnitySensors.Interface.Std;
+
+namespace UnitySensors.Sensor.Contact
+{
+    public class ContactSensor : UnitySensor, IContactDataInterface, IBoolStateInterface, IWrenchInterface
+    {
+        [SerializeField, ReadOnly]
+        private bool _isContact;
+        [SerializeField, ReadOnly]
+        private List<ContactData> _contacts = new List<ContactData>();
+
+        private Dictionary<Collider, ContactData> _activeContacts = new Dictionary<Collider, ContactData>();
+        private List<Collider> _removeBuffer = new List<Collider>();
+        // Colliders that belong to this sensor. Empty means "anything that reaches me".
+        private HashSet<Collider> _ownColliders = new HashSet<Collider>();
+        private Vector3 _totalForce;
+        private Vector3 _totalTorque;
+
+        public bool isContact { get => _isContact; }
+        public Vector3 totalForce { get => _totalForce; }
+        public Vector3 totalTorque { get => _totalTorque; }
+        public Vector3 localTotalForce { get => transform.InverseTransformDirection(_totalForce); }
+        public Vector3 localTotalTorque { get => transform.InverseTransformDirection(_totalTorque); }
+        public IReadOnlyList<ContactData> contacts { get => _contacts; }
+
+        // Generic serializer sources: bumper state and the net contact wrench
+        // in the sensor's local frame.
+        bool IBoolStateInterface.state { get => _isContact; }
+        Vector3 IWrenchInterface.force { get => localTotalForce; }
+        Vector3 IWrenchInterface.torque { get => localTotalTorque; }
+
+        protected override void Init()
+        {
+            // Unity delivers OnCollision* only to the GameObject that carries the
+            // Rigidbody/ArticulationBody - never to a collider-only child. Relays on the
+            // children therefore fire for the case where the sensor sits on the body
+            // itself and the colliders hang below it, but not for a sensor on a part that
+            // shares a body with its parent. RegisterBodyRelay() covers the latter.
+            AttachRelays(transform);
+        }
+
+        /// <summary>
+        /// Listen to the collisions of a body this sensor does not own, keeping only the
+        /// ones that touched a collider registered through <see cref="RegisterOwnCollider"/>.
+        /// </summary>
+        /// <remarks>
+        /// A URDF link attached by a fixed joint has no body of its own - its colliders
+        /// belong to the nearest ancestor that has one, and that ancestor is where Unity
+        /// sends the collision. Without this the sensor hears nothing; with this but no
+        /// own-collider filter it would report every contact of the whole assembly, so a
+        /// bumper brushing a wall would read as a hit on the plate.
+        /// </remarks>
+        public void RegisterBodyRelay(GameObject bodyObject)
+        {
+            if (bodyObject == null || bodyObject == gameObject) return;
+            foreach (ContactEventRelay existing in bodyObject.GetComponents<ContactEventRelay>())
+            {
+                if (existing.Target == this) return;
+            }
+            bodyObject.AddComponent<ContactEventRelay>().Initialize(this);
+        }
+
+        /// <summary>
+        /// Declare a collider as belonging to this sensor. Once any is declared, contacts
+        /// on other colliders of the same body are ignored.
+        /// </summary>
+        public void RegisterOwnCollider(Collider collider)
+        {
+            if (collider != null) _ownColliders.Add(collider);
+        }
+
+        /// <summary>
+        /// Relay OnCollision* events from the given collider's GameObject to
+        /// this sensor. Use this when the collider sits outside the default
+        /// scan, e.g. on a child GameObject that carries its own body.
+        /// </summary>
+        public void RegisterCollider(Collider target)
+        {
+            if (target == null || target.gameObject == gameObject) return;
+            if (target.GetComponent<ContactEventRelay>() == null)
+            {
+                target.gameObject.AddComponent<ContactEventRelay>().Initialize(this);
+            }
+        }
+
+        private void AttachRelays(Transform target)
+        {
+            if (target != transform &&
+                (target.GetComponent<Rigidbody>() != null || target.GetComponent<ArticulationBody>() != null))
+            {
+                return;
+            }
+
+            if (target != transform &&
+                target.GetComponent<Collider>() != null &&
+                target.GetComponent<ContactEventRelay>() == null)
+            {
+                target.gameObject.AddComponent<ContactEventRelay>().Initialize(this);
+            }
+
+            for (int i = 0; i < target.childCount; i++)
+            {
+                AttachRelays(target.GetChild(i));
+            }
+        }
+
+        // Colliders on the same GameObject as the body report here directly;
+        // collider-only children report through ContactEventRelay.
+        private void OnCollisionEnter(Collision collision)
+        {
+            UpdateContact(collision);
+        }
+
+        private void OnCollisionStay(Collision collision)
+        {
+            UpdateContact(collision);
+        }
+
+        private void OnCollisionExit(Collision collision)
+        {
+            _activeContacts.Remove(collision.collider);
+        }
+
+        internal void HandleRelayedCollisionEnter(Collision collision)
+        {
+            UpdateContact(collision);
+        }
+
+        internal void HandleRelayedCollisionStay(Collision collision)
+        {
+            UpdateContact(collision);
+        }
+
+        internal void HandleRelayedCollisionExit(Collision collision)
+        {
+            _activeContacts.Remove(collision.collider);
+        }
+
+        private void UpdateContact(Collision collision)
+        {
+            if (collision.contactCount == 0) return;
+
+            // Walk every contact point: one Collision can carry points on several of the
+            // body's colliders, and only some of them may be ours.
+            int matched = 0;
+            ContactPoint mine = default;
+            for (int i = 0; i < collision.contactCount; i++)
+            {
+                ContactPoint point = collision.GetContact(i);
+                if (_ownColliders.Count > 0 && !_ownColliders.Contains(point.thisCollider)) continue;
+                if (matched == 0) mine = point;
+                matched++;
+            }
+            if (matched == 0)
+            {
+                // Nothing on our side of the assembly was touched.
+                _activeContacts.Remove(collision.collider);
+                return;
+            }
+
+            ContactData contact = new ContactData();
+            contact.colliderName = collision.collider.name;
+            contact.position = mine.point;
+            contact.normal = mine.normal;
+            // impulse is reported per collider pair, so when only part of the contact
+            // points are ours the force is scaled by their share rather than measured.
+            contact.force = collision.impulse / Time.fixedDeltaTime
+                            * ((float)matched / collision.contactCount);
+            _activeContacts[collision.collider] = contact;
+        }
+
+        protected override IEnumerator UpdateSensor()
+        {
+            // A collider destroyed while touching never sends OnCollisionExit,
+            // so drop destroyed keys before aggregating.
+            _removeBuffer.Clear();
+            foreach (Collider collider in _activeContacts.Keys)
+            {
+                if (collider == null) _removeBuffer.Add(collider);
+            }
+            foreach (Collider collider in _removeBuffer)
+            {
+                _activeContacts.Remove(collider);
+            }
+
+            _contacts.Clear();
+            _totalForce = Vector3.zero;
+            _totalTorque = Vector3.zero;
+
+            Vector3 origin = transform.position;
+            foreach (ContactData contact in _activeContacts.Values)
+            {
+                _contacts.Add(contact);
+                _totalForce += contact.force;
+                _totalTorque += Vector3.Cross(contact.position - origin, contact.force);
+            }
+            _isContact = _contacts.Count > 0;
+
+            yield return null;
+        }
+
+        protected override void OnSensorDestroy()
+        {
+        }
+    }
+}
diff --git a/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactSensor.cs.meta b/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactSensor.cs.meta
new file mode 100644
index 00000000..01d501cf
--- /dev/null
+++ b/Packages/UnitySensors/Runtime/Scripts/Sensors/Contact/ContactSensor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4cdc18db19914e8b8a05fc691fb8a871
+MonoImporter:
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+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/GeometryMsgs/WrenchStampedMsgPublisher.cs b/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/GeometryMsgs/WrenchStampedMsgPublisher.cs
new file mode 100644
index 00000000..4b468011
--- /dev/null
+++ b/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/GeometryMsgs/WrenchStampedMsgPublisher.cs
@@ -0,0 +1,10 @@
+using RosMessageTypes.Geometry;
+
+using UnitySensors.ROS.Serializer.Geometry;
+
+namespace UnitySensors.ROS.Publisher.Geometry
+{
+    public class WrenchStampedMsgPublisher : RosMsgPublisher<WrenchStampedMsgSerializer, WrenchStampedMsg>
+    {
+    }
+}
diff --git a/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/GeometryMsgs/WrenchStampedMsgPublisher.cs.meta b/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/GeometryMsgs/WrenchStampedMsgPublisher.cs.meta
new file mode 100644
index 00000000..cf29a84a
--- /dev/null
+++ b/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/GeometryMsgs/WrenchStampedMsgPublisher.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/StdMsgs.meta b/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/StdMsgs.meta
new file mode 100644
index 00000000..97ddcfe5
--- /dev/null
+++ b/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/StdMsgs.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 3486f3df896046dbb3da1311547da094
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/StdMsgs/BoolMsgPublisher.cs b/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/StdMsgs/BoolMsgPublisher.cs
new file mode 100644
index 00000000..5d6612fd
--- /dev/null
+++ b/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/StdMsgs/BoolMsgPublisher.cs
@@ -0,0 +1,10 @@
+using RosMessageTypes.Std;
+
+using UnitySensors.ROS.Serializer.Std;
+
+namespace UnitySensors.ROS.Publisher.Std
+{
+    public class BoolMsgPublisher : RosMsgPublisher<BoolMsgSerializer, BoolMsg>
+    {
+    }
+}
diff --git a/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/StdMsgs/BoolMsgPublisher.cs.meta b/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/StdMsgs/BoolMsgPublisher.cs.meta
new file mode 100644
index 00000000..2fe4a876
--- /dev/null
+++ b/Packages/UnitySensorsROS/Runtime/Scripts/Publishers/StdMsgs/BoolMsgPublisher.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b21eb530bb194d13a3fbb60776470bc4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/GeometryMsgs/WrenchStampedMsgSerializer.cs b/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/GeometryMsgs/WrenchStampedMsgSerializer.cs
new file mode 100644
index 00000000..00c6fa80
--- /dev/null
+++ b/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/GeometryMsgs/WrenchStampedMsgSerializer.cs
@@ -0,0 +1,39 @@
+using UnityEngine;
+
+using Unity.Robotics.ROSTCPConnector.ROSGeometry;
+using RosMessageTypes.Geometry;
+
+using UnitySensors.Attribute;
+using UnitySensors.Interface.Sensor;
+using UnitySensors.ROS.Serializer.Std;
+
+namespace UnitySensors.ROS.Serializer.Geometry
+{
+    [System.Serializable]
+    public class WrenchStampedMsgSerializer : RosMsgSerializer<WrenchStampedMsg>
+    {
+        [SerializeField, Interface(typeof(IWrenchInterface))]
+        private Object _source;
+        [SerializeField]
+        private HeaderSerializer _header;
+
+        private IWrenchInterface _sourceInterface;
+
+        public override void Init()
+        {
+            base.Init();
+            _header.Init();
+            _sourceInterface = _source as IWrenchInterface;
+        }
+
+        public override WrenchStampedMsg Serialize()
+        {
+            _msg.header = _header.Serialize();
+            // IWrenchInterface vectors are already in the header frame
+            // (the sensor's local frame).
+            _msg.wrench.force = _sourceInterface.force.To<FLU>();
+            _msg.wrench.torque = _sourceInterface.torque.To<FLU>();
+            return _msg;
+        }
+    }
+}
diff --git a/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/GeometryMsgs/WrenchStampedMsgSerializer.cs.meta b/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/GeometryMsgs/WrenchStampedMsgSerializer.cs.meta
new file mode 100644
index 00000000..8420d55a
--- /dev/null
+++ b/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/GeometryMsgs/WrenchStampedMsgSerializer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 75a0ebfa03874f1e9b0ee9705b930f8f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/StdMsgs/BoolMsgSerializer.cs b/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/StdMsgs/BoolMsgSerializer.cs
new file mode 100644
index 00000000..68f13bcc
--- /dev/null
+++ b/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/StdMsgs/BoolMsgSerializer.cs
@@ -0,0 +1,29 @@
+using UnityEngine;
+using RosMessageTypes.Std;
+
+using UnitySensors.Attribute;
+using UnitySensors.Interface.Std;
+
+namespace UnitySensors.ROS.Serializer.Std
+{
+    [System.Serializable]
+    public class BoolMsgSerializer : RosMsgSerializer<BoolMsg>
+    {
+        [SerializeField, Interface(typeof(IBoolStateInterface))]
+        private Object _source;
+
+        private IBoolStateInterface _sourceInterface;
+
+        public override void Init()
+        {
+            base.Init();
+            _sourceInterface = _source as IBoolStateInterface;
+        }
+
+        public override BoolMsg Serialize()
+        {
+            _msg.data = _sourceInterface.state;
+            return _msg;
+        }
+    }
+}
diff --git a/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/StdMsgs/BoolMsgSerializer.cs.meta b/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/StdMsgs/BoolMsgSerializer.cs.meta
new file mode 100644
index 00000000..3dd53b8e
--- /dev/null
+++ b/Packages/UnitySensorsROS/Runtime/Scripts/Serializers/StdMsgs/BoolMsgSerializer.cs.meta
@@ -0,0 +1,11 @@
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+guid: ff6e550d839c40a7830b21731c11e118
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diff --git a/README.md b/README.md
index c3174475..d879c4f2 100644
--- a/README.md
+++ b/README.md
@@ -33,6 +33,7 @@ The following sensors are available inside :
 - Fisheye Camera ([UCM][external-UCM-link], [EUCM][external-EUCM-link], [Double Sphere][external-DS-link], [Kannala-Brandt (KB4)][external-KB4-link], [OCamCalib][external-OCamCalib-link], and Equidistant models with adjustable parameters)
 - IMU
 - GNSS
+- Contact (Bumper)
 - (GroundTruth)
 - (TF)