Dear all,

I made a table on wheels in gazebo and I had a robot push the table... The wheels worked, the table rolled... but it just won't stop. Is there a property I need to set in order for the wheels to stop rolling??

Here is an example of how I defined each of the four wheels and the respective joints.

Link:

  <link name="wheel1">
    <inertial> 
      <mass value="1.0" />
      <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="1.0"  iyz="0.0"  izz="1.0" />
    </inertial>
    <visual>
      <origin rpy="0 1.57075 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.1" radius="0.1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.57075 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.1" radius="0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="wheel1">
    <material>Gazebo/FlatBlack</material>
  </gazebo>

Joint:

  <joint name="wheel1" type="continuous">
    <parent link="leg3"/>
    <child link="wheel1"/>
    <axis xyz="1 0 0"/>
    <origin xyz="0 -0.4 -0.1"/>
    <dynamics damping="0.7" friction="100.0" />
  </joint>

Image of Table and Robot pushing it:

Thank you!