How to create a caster wheel (Urdf model)
I have built a 2 wheel robot and I have been trying for hours to put a correct caster wheel on it. I followed the logic of this code in which a sphere with a fixed joint is used and I managed to make it work (or I thought so) until I commanded my robot to move. The movement was totally wrong. With the fixed joint sphere, the robot was bumping like crazy. Is there another way to create a caster wheel ?
Thanks for answering and for your time in advance.