My model cannot run when i apply a force to the front wheels
Hi; I'm a gazebo novice user, i try to run my first example without success. can any body tell me why my car cannot run away when i set a forces to the front wheels please?
herein my model
model.sdf
<?xml version='1.0'?>
<sdf version='1.4'>
<model name='car'>
<static>false</static>
<link name='chassis'>
<pose>0 0 0.8 0 0 0</pose>
<collision name='collision'>
<geometry>
<box>
<size>4 2 1</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>4 2 1</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 255 255 1</emissive>
</material>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision_top'>
<pose>0 0 0.8 0 0 0</pose>
<geometry>
<box>
<size>1 2 0.6</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_top'>
<pose>0 0 0.8 0 0 0</pose>
<geometry>
<box>
<size>1 2 0.6</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>255 0 255 1</emissive>
</material>
</visual>
</link>
<link name='wheel_front_left'>
<pose>1.5 1.3 0.6 0 1.5707 1.5707</pose>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.6</radius>
<length>0.3</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.6</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
</link>
<link name='wheel_back_left'>
<pose frame=''>-1.5 1.3 0.6 0 1.5707 1.5707</pose>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.6</radius>
<length>0.3</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.6</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
</link>
<link name='wheel_front_right'>
<pose frame=''>1.5 -1.3 0.6 0 1.5707 1.5707</pose>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.6</radius>
<length>0.3</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.6</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
</link>
<link name='wheel_back_right'>
<pose frame=''>-1.5 -1.3 0.6 0 1.5707 1.5707</pose>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.6</radius>
<length>0.3</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.6</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
</link>
<joint name='joint_front_left' type='revolute'>
<parent>chassis</parent>
<child>wheel_front_left</child>
<pose>0 0 -0.3 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint name='joint_back_left' type='revolute'>
<parent>chassis</parent>
<child>wheel_back_left</child>
<pose>0 0 -0.3 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint name='joint_front_right' type='revolute'>
<parent>chassis</parent>
<child>wheel_front_right</child>
<pose>0 0 0.3 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<joint name='joint_back_right' type='revolute'>
<parent>chassis</parent>
<child>wheel_back_right</child>
<pose>0 0 0.3 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint> </model> </sdf>
model.config
<?xml version="1.0" ?>
<model>
<name>car</name>
<version>1.0</version>
<sdf version="1.4">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>
Asked by den78 on 2020-03-31 07:52:24 UTC
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