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Actually I just got it to work using a SDF model of the robot using the following tags:

``` <link name="castor_wheel_center_link"> <pose>0.00065 0.21519 -0.02502 0 0 0</pose> <inertial> <pose>0 0.03 -0.033 0 0 0</pose> <mass>1.0</mass> <inertia> <ixx>0.003</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.002</iyy> <iyz>0</iyz> <izz>0.002</izz> </inertia> </inertial>

  <visual name="visual_castor_wheel_center">
    <geometry>
      <mesh>
        <uri>model://dae/castor_wheel_center.dae</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
  </visual>

  <collision name="collision_castor_wheel_center">
    <pose>-0.00063 0.02907 -0.03606 1.5708 0 1.5708</pose>
    <geometry>
      <cylinder>
        <radius>0.02498</radius>
        <length>0.0164</length>
      </cylinder>
    </geometry>

    <surface>
        <friction>
          <ode>
            <mu>1.01</mu>
            <mu2>1.01</mu2>
            <fdir1>0 0 1</fdir1>
            <slip1>0</slip1>
            <slip2>0</slip2>
          </ode>
        </friction>
        <bounce>
          <restitution_coefficient>0.0</restitution_coefficient>
          <threshold>100000.0</threshold>
        </bounce>
        <contact>
          <ode>
            <soft_cfm>0.0</soft_cfm>
            <soft_erp>0.2</soft_erp>
            <kp>100000.0</kp>
            <kd>1.0</kd>
            <max_vel>100.0</max_vel>
            <min_depth>0.001</min_depth>
          </ode>
        </contact>
      </surface>
      <laser_retro>0</laser_retro>
  </collision>
</link>

```

The gazebo tags to set the physics are not working.

Try to change the parameters and check if they were modified by using the following command and searching for the link of interest: gz model -m robios -i

Actually I just got it to work using a SDF model of the robot using the following tags:

``` <link name="castor_wheel_center_link"> <pose>0.00065 0.21519 -0.02502 0 0 0</pose> <inertial> <pose>0 0.03 -0.033 0 0 0</pose> <mass>1.0</mass> <inertia> <ixx>0.003</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.002</iyy> <iyz>0</iyz> <izz>0.002</izz> </inertia> </inertial>

  <visual name="visual_castor_wheel_center">
    <geometry>
      <mesh>
        <uri>model://dae/castor_wheel_center.dae</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
  </visual>

  <collision name="collision_castor_wheel_center">
    <pose>-0.00063 0.02907 -0.03606 1.5708 0 1.5708</pose>
    <geometry>
      <cylinder>
        <radius>0.02498</radius>
        <length>0.0164</length>
      </cylinder>
    </geometry>

    <surface>
        <friction>
          <ode>
            <mu>1.01</mu>
            <mu2>1.01</mu2>
            <fdir1>0 0 1</fdir1>
            <slip1>0</slip1>
            <slip2>0</slip2>
          </ode>
        </friction>
        <bounce>
          <restitution_coefficient>0.0</restitution_coefficient>
          <threshold>100000.0</threshold>
        </bounce>
        <contact>
          <ode>
            <soft_cfm>0.0</soft_cfm>
            <soft_erp>0.2</soft_erp>
            <kp>100000.0</kp>
            <kd>1.0</kd>
            <max_vel>100.0</max_vel>
            <min_depth>0.001</min_depth>
          </ode>
        </contact>
      </surface>
      <laser_retro>0</laser_retro>
  </collision>
</link>

The gazebo tags to set the physics are not working.

Try to change the parameters and check if they were modified by using the following command and searching for the link of interest: gz model -m robios -i

Actually I just got it to work using a SDF model of the robot using the following tags:

  <visual name="visual_castor_wheel_center">
    <geometry>
      <mesh>
        <uri>model://dae/castor_wheel_center.dae</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
  </visual>

  <collision name="collision_castor_wheel_center">
    <pose>-0.00063 0.02907 -0.03606 1.5708 0 1.5708</pose>
    <geometry>
      <cylinder>
        <radius>0.02498</radius>
        <length>0.0164</length>
      </cylinder>
    </geometry>

    <surface>
        <friction>
          <ode>
            <mu>1.01</mu>
            <mu2>1.01</mu2>
            <fdir1>0 0 1</fdir1>
            <slip1>0</slip1>
            <slip2>0</slip2>
          </ode>
        </friction>
        <bounce>
          <restitution_coefficient>0.0</restitution_coefficient>
          <threshold>100000.0</threshold>
        </bounce>
        <contact>
          <ode>
            <soft_cfm>0.0</soft_cfm>
            <soft_erp>0.2</soft_erp>
            <kp>100000.0</kp>
            <kd>1.0</kd>
            <max_vel>100.0</max_vel>
            <min_depth>0.001</min_depth>
          </ode>
        </contact>
      </surface>
      <laser_retro>0</laser_retro>
  </collision>
</link>

The gazebo tags to set the physics are not working.

Try to change the parameters and check if they were modified by using the following command and searching for the link of interest: interest:

gz model -m robios [robot_name] -i