Revision history [back]

The documentation in the current version of gazebo is a bit lacking. Example world files is your besst friend.

2) are you trying to calculate the angle at which the wheels slip? If that's the case, then you'll have to write your own controller to look at wheel velocity and model velocity. There is no function to my knowledge in ode that exposes this information.

3) the new gazebo website has more info: gazebo.willowgarage.com