Gazebo | Ignition | Community
Ask Your Question

Difference between writing stuff directly into URDF vs. into <gazebo reference=""> tags?

asked 2019-04-04 15:36:45 -0600

steradiant gravatar image

Hello, I'm wondering what the <gazebo reference=""> tag actually does? Is there a difference between writing stuff directly into a URDF file and writing it into a <gazebo reference=""> tag?

E.g. I can set mue for a link as follows:

 <contact_coefficient mu="100000"  resitution="0"  k_p="0"  k_d="100" />

But also via the tag

 <gazebo reference="link">

What's the difference?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2019-04-05 08:59:24 -0600

afroRoboticist gravatar image

As far as I know... A gazebo reference tag tells your ROS URDF file what properties a link should have in gazebo. It defines the behavior of a link when it is spawned within the gazebo environment ONLY. What you put within a gazebo reference tag does not affect how your robot behaves for instance in RVIZ. Case in point... See below

<gazebo reference="front_left_wheel">
  <mu1 value="200.0"/>
  <mu2 value="100.0"/>
  <kp value="1.0e+6"/>
  <kd value="1.0"/>
  <gravity value="true"/>

This snippet reference says for the front_left_wheel link within the gazebo environment... Set values to blablabla... That link would then go on to behave with the set parameters WITHIN GAZEBO only.

edit flag offensive delete link more
Login/Signup to Answer

Question Tools

1 follower


Asked: 2019-04-04 15:36:45 -0600

Seen: 175 times

Last updated: Apr 05 '19