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This commit is contained in:
Ruixiang Du
2020-03-29 19:11:27 +08:00
parent dbf04d03d8
commit b8144488f3
6 changed files with 44 additions and 51 deletions
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11
scout_description/urdf/scout_wheel.gazebo
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@@ -29,11 +29,20 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
<gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="0.6"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<maxContacts value="64"/>
</gazebo>
<!-- <gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<fdir1 value="1 0 0"/>
</gazebo> -->
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">