Gazebo | Ignition | Community
Ask Your Question

where to specify friction?

asked 2020-08-21 14:47:05 -0600

knickels gravatar image

I see several examples (such as ) that specify mu/mu2/slip1/slip2 in the link/collision/surface/friction/ode namespace.

I also see some examples (such as this one ) that specify mu1/mu2/slip1/slip2 in the <gazebo> namespace.

Aside from the mu vs mu1 question, which one is correct? Or are they two ways of the same thing?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2020-08-24 04:58:52 -0600

kumpakri gravatar image

updated 2020-08-24 05:00:45 -0600

They are the same, but neither of them is guaranteed to actually be applied to your model (personal experience). I cannot pinpoint when the set parameters are being used and when are not. Use whatever makes more sense in your usecase. Either you have a robot/model description on a separate location from your world (perhaps you use it in multiple worlds) then you want to specify the friction inside this description (the <gazebo> tags), or you only specify this model in the specific world description. In that case go ahead and define the friction in there.

In case the surface friction set in the SDF description does not apply (you check the value inside the gazebo client, for example, and it is not what you set), you will need to set the friction in some gazebo plugin.

edit flag offensive delete link more
Login/Signup to Answer

Question Tools

1 follower


Asked: 2020-08-21 14:47:05 -0600

Seen: 108 times

Last updated: Aug 24 '20