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gazebo robot slips on the ground

asked 2021-08-30 01:35:21 -0600

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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>
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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.

m.bahno gravatar imagem.bahno ( 2021-09-15 07:50:08 -0600 )edit

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answered 2021-09-08 06:04:53 -0600

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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).

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Asked: 2021-08-30 01:35:21 -0600

Seen: 41 times

Last updated: Sep 08