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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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20
scout_description/urdf/scout_v2.gazebo
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@@ -1,5 +1,12 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" >
Reference:
[1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
[2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
[3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
[4] https://www.youtube.com/watch?v=fuRAv6PDwdw
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
<!-- Additional definitions for simulation -->
@@ -20,6 +27,17 @@
</plugin>
</gazebo>
<!-- kp spring constant, kd damping constant -->
<gazebo>
<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>
<!-- <gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate>

16
scout_description/urdf/scout_v2.xacro
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@@ -32,6 +32,14 @@
<child link="base_link" />
</joint>
<!-- For testing, hang the robot up in the air -->
<!-- <link name="world" />
<joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="world"/>
<child link="base_link"/>
</joint> -->
<!-- Base link -->
<link name="base_link">
<visual>
@@ -87,14 +95,6 @@
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel_type2>
<!-- For testing, hang the robot up in the air -->
<!-- <link name="world" />
<joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="world"/>
<child link="base_link"/>
</joint> -->
<!-- Additional definitions -->
<xacro:include filename="$(arg urdf_extras)" />

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">