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
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
Comments
can this be done in a python environment using rospy/rclpy
Asked by aadiv1999 on 2022-10-27 18:05:36 UTC
Comments