Wheel-terrain interaction with Gazebo

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

Francisco Castro gravatar image


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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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

Hello! I would be happy get in touch with you. My nearest bet so far is an interface I found with Gazebo and Project Chrono, but as I need a real-time solution I don't know if it will work. Here's my email: francisco.de.castro@ist.utl.pt

Francisco Castro gravatar imageFrancisco Castro ( 2020-12-24 21:01:58 -0500 )edit


I'm also working to simulate wheel-soil interaction in Gazebo. I've came to this thread and wondered if there was any updates. Also, I was wondering if the source code was on github or somewhere else. I would be looking forward for your reply.

Go Sakayori gravatar imageGo Sakayori ( 2021-09-15 23:25:33 -0500 )edit

Hi Joshua, I am started working on wheel-terrain interaction of soft/loose soil. I will like to start my simulation in gazebo, but doesn't have any help. Please I will also like to share with me your model.

My emal: ahmadbukar90@gmail.com

Regards Ahmad

Ahmad Abubakar gravatar imageAhmad Abubakar ( 2021-11-10 15:56:53 -0500 )edit

Hello, could you also share the code with me ? my email id is - a.pagariya@nisar.ai.

Just a side note: 1. I am also checking if I can get ROS and Chrono together.

Thanks in advance!

pagariya gravatar imagepagariya ( 2023-01-25 06:33:20 -0500 )edit

Hello Joshua, I work with Chrono in the las half year, but I was not able to speed up the simulation to get the necessary performance. I am a little bit disappointed. I would be happy to try your implementation as we are planning to use Humble for later on. mail: doba.daniel.karoly@kjk.bme.hu Thank you.

DanielDoba gravatar imageDanielDoba ( 2023-06-18 16:41:45 -0500 )edit