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Hi all,

I'm working on URDF model of skid steering robot (Pioneer 3AT). There is new plugin for controlling this type of robot (see gazebo_plugins package) so, I can command robot from ROS and it moves. But I have problems with rotational movements - robot can't rotate. If I define wheels (collision geometry) as very thin cylinders and apply high torque it "somehow" rotates... If collision geometry is defined using mesh it's better but, robot jumps a bit.

The question is - how can I set slip1/slip2 (as setting this is recommended here) using URDF? As far as I know, URDF is translated into SDF so, I guess, it should be somehow possible. Thanks for hints in advance.

I'm using Gazebo 1.8 and gazebo_ros_pkgs for ROS integration.


Originally posted by ZdenekM on Gazebo Answers with karma: 62 on 2013-06-26

Post score: 1

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1 Answer 1

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URDF has no concept of friction, so you'll have to insert SDF (which is currently specified using the extension).

Something like

  <gazebo reference="r_foot">
    <!-- kp and kd for rubber -->
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <mu1>1.5</mu1>
    <mu2>1.5</mu2>
    <fdir1>1 0 0</fdir1>
    <maxVel>1.0</maxVel>
    <minDepth>0.00</minDepth>
  </gazebo>

Originally posted by nkoenig with karma: 7676 on 2013-06-27

This answer was ACCEPTED on the original site

Post score: 3


Original comments

Comment by davetcoleman on 2013-06-27:
This is documented here

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