How to dynamically set a link friction through ROS?

asked 2019-03-15 13:22:35 -0500

zadiq gravatar image

I have a urdf description of a robot model and I will like to change the friction (mu1 and mu2) of the wheels dynamically through ROS. Is there a rostopic or rosservice available for this. I am using rospy.

P.S I know it can be done manually by using the Gazebo element for Links as shown below:

<gazebo reference="wheel">
     <material>Gazebo/Black</material>
     <mu1>0.2</mu1>
     <mu2>0.2</mu2>
</gazebo>
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