How to achieve stable contact of the robot's wheel with the ground?
I find my wheeled robot slipping over a surface that he is not supposed to be slipping. When I watch the contacts in the Gazebo client, I can see that the robot is not slipping if the contacts are stable and is slipping the more the more the contacts flicker.
I set all the configuration I thought might have an effect on this but nothing helped. The contacts are still unstable.
In the world description I set physics tags:
<max_contacs> to 1
<cfm> to 0.002
<contact_surface_layer> to 0.01
In the link of the wheels I set
<minDepth> to 0.002
<maxVel> to 0.5
<max_contacts> to 1
I have made a plugin that always assigns the fdir1 to the unit vector opposite of the heading direction.
iters
nor friction method makes any difference for contacts. What else can I try?