I am currently working on my thesis which is focused on the mobility systems of 4 wheeled and 6 wheeled rovers, with a focus on the wheel-ground interaction. Because of this I really wanted to find a way to reproduce the deformability of the terrain on Gazebo (classic). I'm currently using the LeoRover Gazebo simulations having installed Gazebo through ROS (noetic). I really wanted to add to this simulation the wheel plowing modifications I found here https://github.com/gazebosim/gazebo-classic/pull/3164, but I really can't get it working. I've downloaded Gazebo-classic on github and tried to start the .world tests for the plowing, they start up just fine (after adding the models to my ros gazebo model directory) but I do not notice any difference between the two tricycles. I'm not sure why that is happening, I believe that maybe the Gazebo I originally installed through ROS interferes with the simulation, I tried to compare the two gazebos and they have very different structures, the gazebo directory I dowloaded from github has .cc and CMakeLists files that the other doesn't have. I was only able to add the models and change the Collision.hh file. As you may notice I'm not really sure what I'm doing, any help at all would be immensely appreciated.
The plowing effect is currently only supported in gazebo-classic starting with version 11.12; it is not yet supported in gz-sim. Can you confirm that the version of gazebo you are using is at or newer than 11.12, either through running
gazebo --version or confirming the version number in your package manager?
I would use the following to run the example world:
# from root of gazebo-classic source tree export GAZEBO_MODEL_PATH=$PWD/test/models:$GAZEBO_MODEL_PATH gazebo --verbose test/worlds/plowing_effect_tricycle_demo.world -u
This should start the simulation in a paused state. Once the world is loaded, click
View -> Contacts and
View -> Transparent from the gzclient window in order to see the contact point and normal directions. If you zoom in on the
plowing_effect_trisphere_cycle, you should see the contact normal directions incline slightly after unpausing the simulation.