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Creating a frictionless caster wheel

asked 2017-03-25 09:41:35 -0500

Benjimen44
1 ●1 ●1 ●1

I am trying to simulate a robot my team is building using Gazebo. I created a URDF file and I can not get the front caster wheels of my robot to work. I have been following the logic of the code from this site but when I try to drive the robot the front wheels are not actually frictionless. I tried changing the wight of the main body that was suggested in another thread but that did not work. Does anyone know how to fix this problem?

The Code is located here link text

-Thank you

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Thanks.

gvdhoorn ( 2017-09-23 16:26:09 -0500 )edit

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answered 2017-09-23 15:57:43 -0500

flag of Germany

831 ●6 ●30 ●16 https://www.dfki.de/en...

just set mu1 and mu2 values to 0.0

in other words in lines 195, 196, 145, 146 of your code

replace this:

<mu1 value="1.0"/>
<mu2 value="1.0"/>

with this:

<mu1 value="0.0"/>
<mu2 value="0.0"/>

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Asked: 2017-03-25 08:56:45 -0500

Seen: 2,081 times

Last updated: Sep 23 '17

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