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re-added gazebo friction parameters for the wheels #19

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merged 1 commit into from
Mar 14, 2019
Merged

re-added gazebo friction parameters for the wheels #19

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1 change: 1 addition & 0 deletions mir_description/urdf/include/mir_100.gazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
<mu2 value="${friction}"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<minDepth>0.01</minDepth>
</gazebo>
</xacro:macro>

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4 changes: 2 additions & 2 deletions mir_description/urdf/include/mir_100_v1.urdf.xacro
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Expand Up @@ -238,8 +238,8 @@

<xacro:mir_100_wheel_transmissions prefix="${prefix}"/>

<!-- disabled, because it doesn't make a difference in Gazebo: -->
<!-- <xacro:set_all_wheel_frictions prefix="${prefix}"/> -->
<!-- set the gazebo friction parameters for the wheels -->
<xacro:set_all_wheel_frictions prefix="${prefix}"/>

<p3d_base_controller prefix="${prefix}" />
</xacro:macro>
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