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How to dynamically set a link friction through ROS?

asked 2019-03-15 13:22:35 -0500

zadiq
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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>

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answered 2022-01-20 16:04:33 -0500

sidsingh930
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If you have the pointer to the gazebo link you can use the friction pyramid to change the friction https://osrf-distributions.s3.amazona...

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

aadiv1999 ( 2022-10-27 18:05:36 -0500 )edit

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Asked: 2019-03-15 13:22:35 -0500

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Last updated: Jan 20 '22

How to dynamically set a link friction through ROS? edit

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How to dynamically set a link friction through ROS?