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Hi there,

i know this feed is a little outdated but i currently have issues when trying to go from xacro->urdf->sdf into gazebo. I have a fairly complex setup and need to change friction of models in my simulation.

Currently in my xacro i set up a wheel like this:

>   <link name="wheel_f_l">
>     <collision name="collision">
>       <geometry>
>         <cylinder radius="${wheel_radius}"
>              length="${wheel_length}"/>
>       </geometry>
>     </collision>
>     <visual name="visual">
>       <geometry>
>         <cylinder radius="${wheel_radius}"
>           length="${wheel_length}"/>
>       </geometry>
>     </visual>
>     <xacro:solid_cylinder_inertial
>       radius="${wheel_radius}" height="${wheel_length}"
>       mass="${wheel_mass}" gcx="${0}" gcy="${0}" gcz="${0}"/>   
>     </link>

I then create a reference like this:

<gazebo reference="wheel_r_l">
        <mu1>100</mu1>
        <mu2>100</mu2>
        <maxContacts>1</maxContacts>
    </gazebo>

but for some reason my parameters dont survive the conversion to sdf via. gz sdf -p test.urdf > test.sdf.

Help would very much be appreciated!

Hi there,

i know this feed is a little outdated but i currently have issues when trying to go from xacro->urdf->sdf into gazebo. I have a fairly complex setup and need to change friction of models in my simulation.

Currently in my xacro i set up a wheel like this:

>   <link name="wheel_f_l">
>     <collision name="collision">
>       <geometry>
>         <cylinder radius="${wheel_radius}"
>              length="${wheel_length}"/>
>       </geometry>
>     </collision>
>     <visual name="visual">
>       <geometry>
>         <cylinder radius="${wheel_radius}"
>           length="${wheel_length}"/>
>       </geometry>
>     </visual>
>     <xacro:solid_cylinder_inertial
>       radius="${wheel_radius}" height="${wheel_length}"
>       mass="${wheel_mass}" gcx="${0}" gcy="${0}" gcz="${0}"/>   
>     </link>

I then create a reference like this:

<gazebo reference="wheel_r_l">
        <mu1>100</mu1>
        <mu2>100</mu2>
        <maxContacts>1</maxContacts>
    </gazebo>

but for some reason my parameters dont survive the conversion to sdf via. gz sdf -p test.urdf > test.sdf.

I should mention i am using ODE and want to create a "realistic" wheel.

Help would very much be appreciated!