ODE friction coefficient set to 0 but surface is not frictionless

asked 2014-01-29 16:19:18 -0500

nunojpg gravatar image

I'm using Gazebo version 1.9.3.

Even when settung the friction coefficient to 0 the surface still have some friction with the ground.

I'm testing with the Polaris Ranger EV, I set the Rear Right Wheel mu and m2 to 0, and then at the simulation apply torque to the Wheel joint. The robot move while I would expect it to remain in place and the wheel to slip!

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Comments

How did you set the friction coefficient? Did you set it with the GUI or in the sdf file? The GUI doesn't currently work. If in the sdf, can you post a copy of the sdf file that you used?

scpeters gravatar imagescpeters ( 2014-01-29 18:21:31 -0500 )edit

Didn't noticed your comment. Sorry. I am just using the Polaris Ranger EV from the model database (actually deleted all the models so it was downloaded now), and then I change the Rear Right Wheel mu and m2 to 0 (lines 401 and 402). The complete file is here: http://pastebin.com/2pNZeCb9.

nunojpg gravatar imagenunojpg ( 2014-02-08 14:39:44 -0500 )edit

Owh, so the answer to your question is I change the SDF file at ~/.gazebo/models/polarisrangerev/model.sdf

nunojpg gravatar imagenunojpg ( 2014-02-08 14:48:17 -0500 )edit

I've confirmed that the issue still exists with Gazebo version 1.9.5. Somehow it appears that there is a dynamic friction happening, so any torque on the wheel will always be transferred to the ground, the wheel just needs to rotate faster... Is there any coefficient to adjust regarding dynamic friction?

nunojpg gravatar imagenunojpg ( 2014-03-18 19:41:19 -0500 )edit