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Default friction coefficients are too high on the wheels, forcing the robot to go straight. Try adding this block:
<gazebo reference="right_back_wheel">
<mu1 value="1.0" />
<mu2 value="1.0" />
</gazebo>
<gazebo reference="left_back_wheel">
<mu1 value="1.0" />
<mu2 value="1.0" />
</gazebo>
<gazebo reference="right_front_wheel">
<mu1 value="1.0" />
<mu2 value="1.0" />
</gazebo>
<gazebo reference="left_front_wheel">
<mu1 value="1.0" />
<mu2 value="1.0" />
</gazebo>
and applying slightly more efforts,
rosservice call /gazebo/apply_joint_effort '{joint_name: "left_back_wheel_joint", effort: -2, start_time: 0, duration: -1 }'
rosservice call /gazebo/apply_joint_effort '{joint_name: "right_front_wheel_joint", effort: 2, start_time: 0, duration: -1 }'
The robot should rotate in place.
Regarding robot dumping, can you obtain a backtrace of gazebo? Thanks.