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Ruixiang Du
2020-04-01 18:51:34 +08:00
parent b8144488f3
commit d221d37dea
9 changed files with 344 additions and 56 deletions
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12
scout_description/urdf/scout_wheel.gazebo
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@@ -28,23 +28,17 @@ 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="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="0.6"/>
<mu2 value="0.9"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<minDepth value="0.001" />
<maxContacts value="64"/>
</gazebo>
<!-- <gazebo reference="${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"/>
</gazebo> -->
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">