Gazebo 1.8.7 How to use friction?
I have been trying to run some simulations in gazebo to test how accurate the friction is in simulation. In my tests I have simple been making a small block slide down a incline plane 30 degrees from vertical. After running several trials I noticed that friction does not respond in simulation when fdir1 is not specified for the block, and fdir1 must be parallel to the direction in which the object will slide. For example if the slope of the plane would carry the object in the x direction the fdir1 must be (1.0,0.0,0.0). This seems impractical because in reality direction of the slope will vary so fdir1 will would have to vary with it. To state my question what parameters in sdf 1.4 must me specified in order to create a more realistic friction simulation?
