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fixed friction issue

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This commit is contained in:
Ruixiang Du
2020-04-01 21:59:58 +08:00
parent d221d37dea
commit a1efd5b609
6 changed files with 32 additions and 34 deletions
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11
scout_description/urdf/scout_wheel.gazebo
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@@ -28,17 +28,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
<xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
<!-- kp spring constant, kd damping constant -->
<gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="0.9"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<minDepth value="0.001" />
<maxContacts value="64"/>
</gazebo>
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">