Robotics StackExchange | Archived questions

gazebo robot slips on the ground

when i spawn the robot on gazebo the robot is slipped on the ground

and the gazebo reference setting of all link is like this :

  <gazebo reference="LB_link1">
    <kp>1000000.0</kp>
    <kd>50.0</kd>
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <maxVel>1.0</maxVel>
    <minDepth>0.001</minDepth>
    <fdir1>0 0 0</fdir1>
    <material>Gazebo/DarkGrey</material>
  </gazebo>

Asked by junghs1040 on 2021-08-30 01:35:21 UTC

Comments

Try to increase mu and mu1 parameters of ground and contact link to some big number (1e3 or even higher). That approximates perfect friction and may eliminate slip.

Asked by m.bahno on 2021-09-15 07:50:08 UTC

Answers

Maybe it would help to set the slip1 and slip2 parameter to 0. If this will not help choose a higher value for kp (like 1e+13).

Asked by molucas on 2021-09-08 06:04:53 UTC

Comments