How to set friction model to cone_model in SDF

asked 2018-11-01 10:12:48 -0500

LukeT gravatar image

updated 2018-11-01 10:14:23 -0500

Hi,

My skid steer robot is slipping when it hits 90 degrees, I understand that Ode uses a pyramid model of friction which causes this, and I would like to change this to a cone model in my sdf.

I believe it is possible from reading this: (http://sdformat.org/spec?ver=1.6&elem...). However when I try to add <friction_model> I get a warning stating that friction model is being igbored as it is not defined in sdf.</friction_model>

Does anyone have an example of how this is done? or any information on why this wouldn't work?

Thanks in advance!

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Comments

Here is an example: https://bitbucket.org/osrf/gazebo/src/82a6d60bb6499d12c8fe3068518d6c7066184ecd/test/worlds/friction_cone.world?at=gazebo7&fileviewer=file-view-default. Which version of Gazebo are you using?

azeey gravatar imageazeey ( 2018-11-21 13:47:09 -0500 )edit
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