Dear all,

i made a kind of Track for Turtlebot in Sketchup, and i imported to Blender and exported.

So i made a world in gazebo and it looked fine. but i started to drive with Teleop_keyboard, it slips especially at curve and on the lane mark like generally on the surface.

i tried to change friction coefficient on both (Turtlebot and Track) in sdf file. and also ive changed some parameters which is recommended for slips in gazebo.

Could you check the sdf lines?

for the Track

<sdf version="1.6">
  <model name="Strecke">
    <static>true</static>
    <link name="link">
      <collision name="collision">
        <geometry>
          <mesh>
            <uri>model://streck/meshes/Streck.dae</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100000.0</mu>
              <mu2>100000.0</mu2>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://streck/meshes/Streck.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>

for the Turtlebot3

<?xml version="1.0" ?>

<link name="base">
  <inertial>
    <pose>-0.064 0 0.048 0 0 0</pose>
    <inertia>
      <ixx>1/12*m(h^2+d^2)</ixx>
      <ixy>0.000</ixy>
      <ixz>0.000</ixz>
      <iyy>1/12*m(h^2+d^2)</iyy>
      <iyz>0.000</iyz>
      <izz>1/12*m(h^2+d^2)</izz>
    </inertia>
    <mass>.0</mass>
  </inertial>

  <collision name="base_collision">
    <pose>-0.064 0 0.048 0 0 0</pose>
    <geometry>
      <box>
        <size>0.265 0.265 0.089</size>
      </box>
    </geometry>
  </collision>

  <visual name="base_visual">
    <pose>-0.064 0 0 0 0 0</pose>
    <geometry>
      <mesh>
        <uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
  </visual>

  <collision name="right_caster_collision">
    <pose>-0.177 -0.064 -0.004 0 0 0</pose>
    <geometry>
      <sphere>
        <radius>0.005000</radius>
      </sphere>
    </geometry>
    <surface>
      <friction>
        <ode>
          <mu>100000.0</mu>
          <mu2>100000.0</mu2>
          <fdir1>0 0 0</fdir1>
          <slip1>0</slip1>
          <slip2>0</slip2>
        </ode>
      </friction>
    </surface>
  </collision>

  <collision name="left_caster_collision">
    <pose>-0.177 0.064 -0.004 0 0 0</pose>
    <geometry>
      <sphere>
        <radius>0.005000</radius>
      </sphere>
    </geometry>
    <surface>
      <friction>
        <ode>
          <mu>100000.0</mu>
          <mu2>100000.0</mu2>
          <fdir1>0 0 0</fdir1>
          <slip1>0</slip1>
          <slip2>0</slip2>
        </ode>
      </friction>
    </surface>
  </collision>
</link>

<link name="lidar">    
  <inertial>
    <pose>-0.052 0 0.111 0 0 0</pose>
    <inertia>
      <ixx>0.001</ixx>
      <ixy>0.000</ixy>
      <ixz>0.000</ixz>
      <iyy>0.001</iyy>
      <iyz>0.000</iyz>
      <izz>0.001</izz>
    </inertia>
    <mass>0.125</mass>
  </inertial>

  <collision name="lidar_sensor_collision">
    <pose>-0.052 0 0.111 0 0 0</pose>
    <geometry>
      <cylinder>
        <radius>0.0508</radius>
        <length>0.055</length>
      </cylinder>
    </geometry>
  </collision>

  <visual name="lidar_sensor_visual">
    <pose>-0.064 0 0.121 0 0 0</pose>
    <geometry>
      <mesh>
        <uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
  </visual>

  <sensor name="hls_lfcd_lds" type="ray">
    <always_on>1</always_on>
    <visualize>0</visualize>
    <pose>-0.064 0 0.121 0 0 0</pose>
    <update_rate>1800</update_rate>
    <ray>
      <scan>
        <horizontal>
          <samples>360</samples>
          <resolution>1.000000</resolution>
          <min_angle>0.000000</min_angle>
          <max_angle>6.280000</max_angle>
        </horizontal>
      </scan>
      <range>
        <min>0.120000</min>
        <max>3.5</max>
        <resolution>0.015000</resolution>
      </range>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.01</stddev>
      </noise>
    </ray>
  </sensor>
</link>

<link name="image">
  <inertial>
    <pose>-0.069 0 0.104 0 0 0</pose>
    <inertia>
      <ixx>0.001</ixx>
      <ixy>0.000</ixy>
      <ixz>0.000</ixz>
      <iyy>0.001</iyy>
      <iyz>0.000</iyz>
      <izz>0.001</izz>
    </inertia>
    <mass>0.035</mass>
  </inertial>

  <collision name="image_collision">
    <pose>-0.069 0 0.104 0 0 0</pose>
    <geometry>
      <box>
        <size>0.008 0.130 0.022</size>
      </box>
    </geometry>
  </collision>

  <sensor name="intel_realsense_r200" type="camera">
    <always_on>1</always_on>
    <visualize>0</visualize>
    <update_rate>30</update_rate>
    <pose>0.064 -0.047 0.107 0 0 0</pose>
    <camera>
      <horizontal_fov>1.02974</horizontal_fov>
      <image>
        <width>1920</width>
        <height>1080</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.02</near>
        <far>300</far>
      </clip>
    </camera>
  </sensor>
</link>

<link name="left_wheel">

  <inertial>
    <pose>0.0 0.144 0.023 -1.57 0 0</pose>
    <inertia>
      <ixx>1/12*m(h^2+d^2)</ixx>
      <ixy>0.000</ixy>
      <ixz>0.000</ixz>
      <iyy>1/12*m(h^2+d^2)</iyy>
      <iyz>0.000</iyz>
      <izz>1/12*m(h^2+d^2)</izz>
    </inertia>
    <mass>0.1</mass>
  </inertial>

  <collision name="left_wheel_collision">
    <pose>0.0 0.144 0.023 -1.57 0 0</pose>
    <geometry>
      <cylinder>
        <radius>0.033</radius>
        <length>0.018</length>
      </cylinder>
    </geometry>
      <surface>
        <friction>
          <ode>
            <mu>100000.0</mu>
            <mu2>100000.0</mu2>
            <fdir1>0 0 0</fdir1>
            <slip1>0.0</slip1>
            <slip2>0.0</slip2>
          </ode>
      </friction>
    </surface>
  </collision>

  <visual name="left_wheel_visual">
    <pose>0.0 0.144 0.023 0 0 0</pose>
    <geometry>
      <mesh>
        <uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
  </visual>
</link>

<link name="right_wheel">

  <inertial>
    <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
    <inertia>
      <ixx>1/12*m(h^2+d^2)</ixx>
      <ixy>0.000</ixy>
      <ixz>0.000</ixz>
      <iyy>1/12*m(h^2+d^2)</iyy>
      <iyz>0.000</iyz>
      <izz>1/12*m(h^2+d^2)</izz>
    </inertia>
    <mass>0.1</mass>
  </inertial>

  <collision name="right_wheel_collision">
    <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
    <geometry>
      <cylinder>
        <radius>0.033</radius>
        <length>0.018</length>
      </cylinder>
    </geometry>
      <surface>
        <friction>
          <ode>
            <mu>100000.0</mu>
            <mu2>100000.0</mu2>
            <fdir1>0 0 0</fdir1>
            <slip1>0.0</slip1>
            <slip2>0.0</slip2>
          </ode>
      </friction>
    </surface>
  </collision>

  <visual name="right_wheel_visual">
    <pose>0.0 -0.144 0.023 0 0 0</pose>
    <geometry>
      <mesh>
        <uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
  </visual>
</link>

<joint name="left_wheel_joint" type="revolute">
  <parent>base</parent>
  <child>left_wheel</child>
  <pose>0.0 0.144 0.023 -1.57 0 0</pose>
  <axis>
    <xyz>0 1 0</xyz>
  </axis>
</joint>

<joint name="right_wheel_joint" type="revolute">
  <parent>base</parent>
  <child>right_wheel</child>
  <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
  <axis>
    <xyz>0 1 0</xyz>
  </axis>
</joint>

<joint name="lidar_joint" type="fixed">
  <parent>base</parent>
  <child>lidar</child>
  <pose>-0.064 0 0.121 0 0 0</pose>
  <axis>
    <xyz>0 0 1</xyz>
    <use_parent_model_frame>true</use_parent_model_frame>
  </axis>
</joint>

<joint name="image_joint" type="fixed">
  <parent>base</parent>
  <child>image</child>
  <pose>0.064 -0.065 0.094 0 0 0</pose>
  <axis>
    <xyz>0 0 1</xyz>
    <use_parent_model_frame>true</use_parent_model_frame>
  </axis>
</joint>