Make caster close to frictionless

Signed-off-by: Aarav Gupta <[email protected]>
ros-navigation · Dec 20, 2024 · 8afa689 · 8afa689
1 parent 09fcd5e
commit 8afa689
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diff --git a/sam_bot_description/src/description/sam_bot_description.sdf b/sam_bot_description/src/description/sam_bot_description.sdf
@@ -170,6 +170,10 @@
             <radius>${(wheel_radius+wheel_zoff-(base_height/2))}</radius>
           </sphere>
         </geometry>
+        <surface><friction><ode>
+          <mu>0.001</mu>
+          <mu2>0.001</mu2>
+        </ode></friction></surface>
       </collision>
 
       <xacro:sphere_inertia m="0.5" r="${(wheel_radius+wheel_zoff-(base_height/2))}"/>

diff --git a/sam_bot_description/src/description/sam_bot_description.urdf b/sam_bot_description/src/description/sam_bot_description.urdf
@@ -124,6 +124,15 @@
     <xacro:sphere_inertia m="0.5" r="${(wheel_radius+wheel_zoff-(base_height/2))}"/>
   </link>
 
+  <gazebo reference="front_caster">
+    <collision>
+      <surface><friction><ode>
+        <mu>0.001</mu>
+        <mu2>0.001</mu2>
+      </ode></friction></surface>
+    </collision>
+  </gazebo>
+
   <joint name="caster_joint" type="fixed">
     <parent link="base_link"/>
     <child link="front_caster"/>