Gazebo | Ignition | Community
Ask Your Question

How to dynamically set a link friction through ROS?

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

zadiq gravatar image

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">
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

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

sidsingh930 gravatar image

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

edit flag offensive delete link more


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

aadiv1999 gravatar imageaadiv1999 ( 2022-10-27 18:05:36 -0500 )edit
Login/Signup to Answer

Question Tools

1 follower


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

Seen: 251 times

Last updated: Jan 20 '22