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Gazebo object with wheels just keeps rolling when force is applied? [closed]

asked 2013-02-02 05:40:23 -0500

RebeccaK375 gravatar image

updated 2013-02-02 07:47:10 -0500

Dear all,

I made a table on wheels in gazebo and I had a robot push the table... The wheels worked, the table rolled... but it just won't stop. Is there a property I need to set in order for the wheels to stop rolling??

Here is an example of how I defined each of the four wheels and the respective joints.

Link:

  <link name="wheel1">
    <inertial> 
      <mass value="1.0" />
      <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="1.0"  iyz="0.0"  izz="1.0" />
    </inertial>
    <visual>
      <origin rpy="0 1.57075 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.1" radius="0.1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.57075 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.1" radius="0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="wheel1">
    <material>Gazebo/FlatBlack</material>
  </gazebo>

Joint:

  <joint name="wheel1" type="continuous">
    <parent link="leg3"/>
    <child link="wheel1"/>
    <axis xyz="1 0 0"/>
    <origin xyz="0 -0.4 -0.1"/>
    <dynamics damping="0.7" friction="100.0" />
  </joint>

Image of Table and Robot pushing it:

image description

Thank you!

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Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by tfoote
close date 2013-09-05 12:18:49

Comments

please ask gazebo questions at http://answers.gazebosim.org for more responses.

tfoote gravatar image tfoote  ( 2013-09-05 12:18:42 -0500 )edit

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answered 2013-02-02 07:03:59 -0500

davinci gravatar image

You can set the friction so that it stops. See here for instance:http://ros.org/wiki/urdf/XML/joint

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Comments

To be clear, are you suggesting that friction be applied to the joint between the leg and the wheel (in each case)?

SL Remy gravatar image SL Remy  ( 2013-02-02 07:17:37 -0500 )edit

Thank you for responding! I just added information to my question above, showing pieces of URDF file. I did have the friction and damping component in the joints, but it did not help.

RebeccaK375 gravatar image RebeccaK375  ( 2013-02-02 07:49:00 -0500 )edit

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Asked: 2013-02-02 05:40:23 -0500

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Last updated: Feb 02 '13