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### Husky wheels don't turn below a threshold

I'm trying to test a custom local planner on a Husky on Gazebo. The Husky responds well to angular and linear velocities commanded by tele-operation. However, the Husky doesn't respond when the angular velocity commanded by move_base is below 0.25 m/sec. It does respond to the linear velocity commanded by move_base.

I tried changing the friction parameters and fdir parameters but to no avail. Please find below an excerpt of the URDF file pertaining to the wheel simulation parameters:

<gazebo reference="${wheel_prefix}_wheel_link"> <mu1 value="0.3"/> <mu2 value="0.3"/> <kp value="10000000.0" /> <kd value="0.75" /> <!-- was 1 --> <fdir1 value="1 0 0"/> </gazebo> <joint name="${wheel_prefix}_wheel" type="continuous">
<child link="${wheel_prefix}_wheel_link"/> <xacro:insert_block name="joint_pose"/> <axis xyz="0 1 0" rpy="0 0 0" /> </joint> <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<actuator name="${wheel_prefix}_wheel_motor"> <mechanicalReduction>1</mechanicalReduction> </actuator> <joint name="${wheel_prefix}_wheel">