Wheel-terrain interaction with Gazebo
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 !
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.
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