From 5f82bd77b4499107fdc813dc851c363741da8efd Mon Sep 17 00:00:00 2001
From: ibrahim <ibrahim.hroub7@gmail.com>
Date: Wed, 22 Jan 2025 15:25:11 +0000
Subject: [PATCH] adding Friction coefficient

---
 hunter_description/description/meshes.xacro     | 10 ++++++++++
 hunter_description/description/robot_core.xacro |  2 ++
 2 files changed, 12 insertions(+)

diff --git a/hunter_description/description/meshes.xacro b/hunter_description/description/meshes.xacro
index a2a61c1..c12ae17 100644
--- 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>
\ No newline at end of file
diff --git a/hunter_description/description/robot_core.xacro b/hunter_description/description/robot_core.xacro
index 986c368..d4c14ff 100644
--- 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/>