Car with front wheel drive

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Hi everyone,

I'm trying to simulate a car with a front wheel drive (and a front steering system). The problem is that I am not able to keep the wanted speed when steering wheel are oriented at 0.7 rad.

I tried to control the wheel with setParam("vel"). I need to set a high value for the "fmax" parameter to follow the expected speed but it's unstable.

So I tried the SetVelocityTarget method but even with a high Proportionnal value. The speed is more stable but I still have the problem of the wanted speed not being respected.

In blue, the expected speed In green, the current speed In red, wanted steering In cyan, current steering

I tried to play with some model's parameters like mu, slip, etc ... but without success. I also had a look to the prius model but the only main difference is that the plugin is controlling the joint wheel with force instead of velocity.

I would like to know if someone already had this kind of problem and what are the parameters that I can change to solve this problem.

Thanks in advance.

Update : I tried another way as it was not possible for me to find why the simulated vehicle was slowing down in a turn.

So I just create a fake link (in my urdf file) which represents the kinematic center of the vehicle. And I tried to use SetLinearVel and SetAngularVel on this link to make my vehicle move (mu1 and mu2 on wheels are set to 0.0).

It works well for SetLinearVel but for SetAngularVel the value is not respected (i compare the value with the value retrieved by GetWorldAngularVel().z). It doesn't reach the expected value. Any ideas ?