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For the friction params, do you have something like that (${prefix}_caster_wheel is a link of one of my model):

<gazebo reference="${prefix}_caster_wheel">
        <collision>
            <surface>
                <friction>
                    <ode>
                        <mu>0.0</mu>
                        <mu2>0.0</mu2>
                        <slip1>1.0</slip1>
                        <slip2>1.0</slip2>
                    </ode>
                </friction>
            </surface>
        </collision>
    </gazebo>