Gazebo Answers logo

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


1 Answer 1


Gazebo Answers logo

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 -->
    <fdir1>1 0 0</fdir1>

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


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.