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Hi @Tonnwu,
I will just refer to my answer here since it seems you have the same problem.
You may want to check and tune the Gazebo contacts of the robot wheels. The wheel contacts parameters need to be properly adjusted for Gazebo to produce consistent contact and friction values to allow the robot to be moved by the simulated forces.
The most important friction factors are mu1 and mu2 that are usually between [0,1], and then Kp and Kd that increase the stability of the contacts/simulation.
With those changes you will be able to see the robot moving.
Hope that helps.
Regards.
Hi @Weasfas, Thanks your reply, I checked my srf file , the fraction is 0.8 . Then i 'run rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.3, y: 0, z: 0}, angular: {x: 0, y: 0, z: -1}}' in shell, the car will move. Then i commit the ode_config in main code ,all are right.
Asked: 2020-09-01 07:28:50 -0500
Seen: 176 times
Last updated: Sep 01 '20
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