# Revision history [back]

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>