adding Friction coefficient

LCAS · Jan 22, 2025 · 5f82bd7 · 5f82bd7
1 parent cad3fc3
commit 5f82bd7
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diff --git a/hunter_description/description/meshes.xacro b/hunter_description/description/meshes.xacro
@@ -28,4 +28,14 @@
     </visual>
   </xacro:macro>
 
+  <xacro:macro name="gazebo_friction" params="reference">
+    <gazebo reference="${reference}">
+      <mu1 value="1.0"/>
+      <mu2 value="0.5"/>
+      <kp value="10000000.0" />
+      <kd value="1.0" />
+      <fdir1 value="1 0 0"/>
+    </gazebo>
+  </xacro:macro>
+
 </robot>
diff --git a/hunter_description/description/robot_core.xacro b/hunter_description/description/robot_core.xacro
@@ -37,6 +37,7 @@
     <dynamics damping="0.2" friction="15"/> 
     <limit effort="10.0" velocity="10.0"/>
   </joint>
+  <xacro:gazebo_friction reference="rear_left_wheel"/>
 
   <link name="rear_right_wheel">
     <xacro:mesh name="rear_right_wheel"/>
@@ -51,6 +52,7 @@
     <limit effort="10.0" velocity="10.0"/>
     <mimic joint="rear_left_wheel_joint" multiplier="1.0" offset="0.0"/>
   </joint>
+  <xacro:gazebo_friction reference="rear_right_wheel"/>
 
   <link name="front_left_steering_link">
     <xacro:virtual/>