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

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 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>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57075 0" xyz="0 0 0"/>
<geometry>
</geometry>
</collision>
<gazebo reference="wheel1">
<material>Gazebo/FlatBlack</material>
</gazebo>


Joint:

  <joint name="wheel1" type="continuous">
<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:

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

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

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

more

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

( 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.

( 2013-02-02 07:49:00 -0500 )edit