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Just in case the values of 1 were not satisfying you can also use higher values, it's never enforced so far for these values to actually be between 0 and 1 and ODE just suggests them to be around 1. Other models and mine inclusive usually use a lot higher values for the friction coefficients.

You can also have a look at an example of a castor wheel here: http://answers.gazebosim.org/question/1340/double-caster-wheel-problem/