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How to dynamically set a link friction through ROS?

I have a urdf description of a robot model and I will like to change the friction (mu1 and mu2) of the wheels dynamically through ROS. Is there a rostopic or rosservice available for this. I am using rospy.

P.S I know it can be done manually by using the Gazebo element for Links as shown below:

<gazebo reference="wheel">
     <material>Gazebo/Black</material>
     <mu1>0.2</mu1>
     <mu2>0.2</mu2>
</gazebo>

Asked by zadiq on 2019-03-15 13:22:35 UTC

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Answers

If you have the pointer to the gazebo link you can use the friction pyramid to change the friction https://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1FrictionPyramid.html#a53d3363754449a059df385ee25930448

Asked by sidsingh930 on 2022-01-20 17:04:33 UTC

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can this be done in a python environment using rospy/rclpy

Asked by aadiv1999 on 2022-10-27 18:05:36 UTC