Build a world with different surfaces

asked 2018-03-15 05:18:46 -0600

eed
3 ●3 ●4 ●6

updated 2018-09-17 01:10:00 -0600

Hi, I would like to create a world in Gazebo with different surfaces, like ice oder glas. So that the Rover P3AT has different friction and so on at specific places.

I can only finde the default 'ground plane' in Gazebo are there any different surfaces and how can I mix them?

Thank you in advance!

My try is as follows: Blue Surface C:\fakepath\model.sdf

Red Surface: C:\fakepath\model.sdf

And the resulting world is C:\fakepath\diffSurface2.world

answered 2018-03-16 04:31:36 -0600

Raskkii
376 ●4 ●6 ●14

Generally you have to make your own models if you'd like to try different surfaces. Easiest way would be to make a copy of the original ground_plane, and modify the model.sdf file (friction). You can also modify its size so you could possibly fi t multiple of your custom ground planes into the same world.

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Thanks, I will try it out

eed ( 2018-03-16 04:51:43 -0600 )edit

I tried this. But the friction is not different even if I choose them different. For example I have one surface with friction 0 and the other with friction 100. On the whole surface my rover is moving forward. If I choose both to 0. The rover isn't moving (as expected). But why it doesn't work with 2 different friction in one world

eed ( 2018-09-17 01:04:00 -0600 )edit

Hmm, what if you tried making one ground plane with friction 100 and then insert a very thin box on the ground plane with a friction of 0. (Make sure to set it static). And then try driving on both surfaces

Raskkii ( 2018-09-17 01:29:20 -0600 )edit

Gazebo defaults to using the minimum friction between two contacting surfaces. For example, if I have a robot with friction of 0.7 and a plane with friction of 100, Gazebo treats their contact as if there is a friction of 0.7

Adam Gronewold ( 2021-07-06 20:02:30 -0600 )edit

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