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Ros2 fix wheels friction #370

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merged 4 commits into from
Jul 22, 2024
Merged

Ros2 fix wheels friction #370

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f5fed94
Fix mecanum prefixes
delihus Jul 16, 2024
f62b41b
fixed frames
delihus Jul 18, 2024
f867232
Added mecanum argument | added y friction to normal wheels
delihus Jul 22, 2024
2d64cab
Merge remote-tracking branch 'origin/ros2-devel' into ros2-fix-wheels…
delihus Jul 22, 2024
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1 change: 1 addition & 0 deletions panther_description/config/WH01.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,3 +6,4 @@ inertia: { ixx: 0.022510, iyy: 0.034850, izz: 0.022510 }
inertia_y_offset: 0.0
mesh_package: panther_description
folder_path: meshes/WH01
mecanum: False
1 change: 1 addition & 0 deletions panther_description/config/WH02.yaml
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Expand Up @@ -6,3 +6,4 @@ inertia: { ixx: 0.010050, iyy: 0.016496, izz: 0.010068 }
inertia_y_offset: 0.0
mesh_package: panther_description
folder_path: meshes/WH02
mecanum: True
1 change: 1 addition & 0 deletions panther_description/config/WH04.yaml
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Expand Up @@ -6,3 +6,4 @@ inertia: { ixx: 0.003099, iyy: 0.005849, izz: 0.003101 }
inertia_y_offset: 0.0
mesh_package: panther_description
folder_path: meshes/WH04
mecanum: False
28 changes: 15 additions & 13 deletions panther_description/urdf/wheel.urdf.xacro
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Expand Up @@ -69,19 +69,21 @@
</link>

<xacro:if value="${use_sim}">
<gazebo reference="${prefix}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
<collision>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 ignition:expressed_in="base_link">${fdir}</fdir1>
</ode>
</friction>
</surface>
</collision>
</gazebo>
<xacro:if value="${wheel_config['mecanum']}">
<gazebo reference="${prefix}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
<collision>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 ignition:expressed_in="base_link">${fdir}</fdir1>
</ode>
</friction>
</surface>
</collision>
</gazebo>
</xacro:if>
</xacro:if>

</xacro:macro>
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