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Very important: fdir = direction of mu1 in the collision local reference frame

SO i was setting the friction all wrong because i have some wheels that are not all oriented on the same angle so i was calculating a different fdir for each one when there was no need because the reference is local so all you need is either x or y of the fdir to be set to 1 depending on how you build the wheels. I bypassed the generation issue by modifying and loading directly the sdf file using gazebo_ros/spawn_model:

<arg name="robot_xdf_description" default="$(find MY_PACKAGE)/urdf/robot.sdf" />
<node name="sdf_spawner_1" pkg="gazebo_ros" type="spawn_model"
            args="-z 1.0 
            -unpause 
            -sdf 
            -model robot1 
            -file $(arg robot_xdf_description) 
            -robot_namespace /robot1" 
            respawn="false" output="screen" />

Very important: fdir = direction of mu1 in the collision local reference frame

SO i was setting the friction all wrong because i have some wheels that are not all oriented on the same angle so i was calculating a different fdir for each one when there was no need because the reference is local so all you need is either x or y of the fdir to be set to 1 depending on how you build the wheels. I bypassed the generation issue by modifying and loading directly the sdf file using gazebo_ros/spawn_model:

<arg name="robot_xdf_description" default="$(find MY_PACKAGE)/urdf/robot.sdf" />
<node name="sdf_spawner_1" pkg="gazebo_ros" type="spawn_model"
            args="-z 1.0 
            -unpause 
            -sdf 
            -model robot1 
            -file $(arg robot_xdf_description) 
            -robot_namespace /robot1" 
            respawn="false" output="screen" />

On a second thought i realised the frame is not the local one (see this issue), but the fdir does not work in the global frame.

Very important: fdir = direction of mu1 in the collision local reference frame

SO i was setting the friction all wrong because i have some wheels that are not all oriented on the same angle so i was calculating a different fdir for each one when there was no need because the reference is local so all you need is either x or y of the fdir to be set to 1 depending on how you build the wheels. I bypassed the generation issue by modifying and loading directly the sdf file using gazebo_ros/spawn_model:

<arg name="robot_xdf_description" default="$(find MY_PACKAGE)/urdf/robot.sdf" />
<node name="sdf_spawner_1" pkg="gazebo_ros" type="spawn_model"
            args="-z 1.0 
            -unpause 
            -sdf 
            -model robot1 
            -file $(arg robot_xdf_description) 
            -robot_namespace /robot1" 
            respawn="false" output="screen" />

EDIT On a second thought i realised the frame is not the local one (see this issue), but the fdir does not work in the global frame.

Very important: fdir = direction of mu1 in the collision local reference frame

SO i was setting the friction all wrong because i have some wheels that are not all oriented on the same angle so i was calculating a different fdir for each one when there was no need because the reference is local so all you need is either x or y of the fdir to be set to 1 depending on how you build the wheels. I bypassed the generation issue by modifying and loading directly the sdf file using gazebo_ros/spawn_model:

<arg name="robot_xdf_description" default="$(find MY_PACKAGE)/urdf/robot.sdf" />
<node name="sdf_spawner_1" pkg="gazebo_ros" type="spawn_model"
            args="-z 1.0 
            -unpause 
            -sdf 
            -model robot1 
            -file $(arg robot_xdf_description) 
            -robot_namespace /robot1" 
            respawn="false" output="screen" />

EDIT On a second thought i realised the frame is not the local one (see this issue), but the fdir does not work in the global frame.

EDIT2 Indeed I was right. The fidir still does not work for all the cases. See here.