Wheel-terrain interaction with Gazebo

asked 2020-03-26 19:48:11 -0500

Francisco Castro gravatar image

Hello,

Up to now, I haven't found any evidence that Gazebo physics engine provides an accurate simulation of the wheel-terrain interaction between rigid wheels and soft soils. According to the ODE documentation, only the contact between rigid wheels and rigid soils is simulated through the Coulomb Friction Model.

I would like know if any of you has some knowledge on how to simulate the contact between rigid wheels and soft, deformable soils in Gazebo.

Thanks in advance !

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Comments

I am not sure if that is possible. If it is, I am fairly certain that is going to run really slow, but if you don't need to run it in real time then ProjectChrono may have what you are looking for.

rittersb gravatar imagerittersb ( 2020-04-03 18:03:50 -0500 )edit

I am currently working on a terrain model to simulate rigid wheels in soft deformable terrain as part of my thesis. It currently exists as a ROS node that subscribes to the link states and joint states from Gazebo, then calls Gazebo services to apply the relevant forces and torques. I'd be happy to share what I have so far with you if you provided an email address

Joshua658413 gravatar imageJoshua658413 ( 2020-10-12 09:13:30 -0500 )edit