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To get better friction solution, try increasing number of inner iteration in the physics engine setting. For example:

 ...
 <physics type="ode">
  <ode>
    <solver>
      <iters>10</iters>
    </solver>
  </ode>
</physics>
...

Note also gazebo 1.9 does the iterations on friction directions last, resulting in better solution than gazebo 1.5.