I'm a beginerbeginner at gazebo and rosROS.
I'm trying to make mobile robot which propulsive power ispropels itself using the friction force of normal to the direction of wheel.
I want to use cylinder as wheel, and setset the friction direction of the cylinder which isto have a small friction coefficient in the rolling direction and large in normal direction.
I set fdir1
as 1 0 0
in gazebo tag but didn't perform what I desired.
<link name = "wheel">
<inertial>
<mass value="${wheel_mass}"/>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<inertia ixx="${I_wheel_xx}" ixy="0.0" ixz="0.0" iyy="${I_wheel_yy}" iyz="0.0" izz="${I_wheel_zz}"/>
</inertial>
<visual>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<material name = "blue"/>
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
</geometry>
</collision>
</link>
<gazebo reference="wheel">
<material>Gazebo/Blue</material>
<mu>${mu}</mu>
<mu2>${mu_2}</mu2>
<fdir>1 0 0</fdir>
So,I want to ask you
1.Is it enable to set friction direction in URDF?
2.if is, how can set it ?
3.is it able to visualize friction force direction in gazebo or rviz?
Is it possible to set the direction of friction in URDF?
If it is, how?
Is it possible to visualize friction force direction in gazebo or rviz?
Thank you.