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In addition to restitution_coefficient and small value for threshold. for example: <bounce restitution_coefficient="1.0" threshold="0.01"/> you must add maxVal under <gazebo>: <surface> <bounce restitution_coefficient="1.0" threshold="0.01"/> </surface> </collision> </link> <gazebo reference="${fb}_${lr}_wheel"> <mu1 value="100.0"/> <mu2 value="0.1"/> <maxvel value="10.0"/> <kp value="100000000.0"/> <kd value="1.0"/> <fdir1 value="1 0 0"/> <material>Gazebo/Grey</material> <turngravityoff>false</turngravityoff> </gazebo>

In addition to restitution_coefficient and small value for threshold. for example: <bounce restitution_coefficient="1.0" threshold="0.01"/> you must add maxVal under <gazebo>: <gazebo>:

<surface> <bounce restitution_coefficient="1.0" threshold="0.01"/> </surface> </collision> </link> <gazebo reference="${fb}_${lr}_wheel"> <mu1 value="100.0"/> <mu2 value="0.1"/> <maxvel value="10.0"/> <kp value="100000000.0"/> <kd value="1.0"/> <fdir1 value="1 0 0"/> <material>Gazebo/Grey</material> <turngravityoff>false</turngravityoff> </gazebo>

In addition to restitution_coefficient and small value for threshold. for example: <bounce restitution_coefficient="1.0" threshold="0.01"/> you must add maxVal under <gazebo>:

<surface> <bounce restitution_coefficient="1.0" threshold="0.01"/> </surface> </collision> </link> <gazebo reference="${fb}_${lr}_wheel"> reference="wheel"> <mu1 value="100.0"/> <mu2 value="0.1"/> <maxvel value="10.0"/> <kp value="100000000.0"/> <kd value="1.0"/> <fdir1 value="1 0 0"/> <material>Gazebo/Grey</material> <turngravityoff>false</turngravityoff> </gazebo>

In addition to restitution_coefficient and small value for threshold. for example: <bounce restitution_coefficient="1.0" threshold="0.01"/> you must add maxVal under <gazebo>:

 <surface>
      <bounce restitution_coefficient="1.0" threshold="0.01"/>
    </surface>
         <!--contact>
          <ode>
             <max_vel>10</max_vel>
          </ode>
        </contact-->
      </collision>
    </link>
    <gazebo reference="wheel">
      <mu1 value="100.0"/>
value="100.0" />
      <mu2 value="0.1"/>
      
      <maxvel value="10.0"/> value="0.1" />
      <!-- kp value="10000000.0" / -->
      **<maxVel value="10.0"/>**
      <kp value="100000000.0"/>
value="100000000.0" />
      <kd value="1.0"/>
value="1.0" />
      <fdir1 value="1 0 0"/>
0" />
      <material>Gazebo/Grey</material>
      <turngravityoff>false</turngravityoff>
    </gazebo>
<turnGravityOff>false</turnGravityOff>
    </gazebo>