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Commit 095f2ef7 authored by Sergi Hernandez's avatar Sergi Hernandez
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Added the kp and kd parameters to the wheels to avoid sliping.

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urdf/include/wheel.gazebo
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...@@ -10,8 +10,8 @@ ...@@ -10,8 +10,8 @@
<selfCollide>true</selfCollide> <selfCollide>true</selfCollide>
<mu1>100.000000</mu1> <mu1>100.000000</mu1>
<mu2>50.000000</mu2> <mu2>50.000000</mu2>
<!-- <kp>1e15</kp>--> <kp>1e15</kp>
<!-- <kd>1e13</kd>--> <kd>1e13</kd>
<!-- <minDepth>0.01</minDepth>--> <!-- <minDepth>0.01</minDepth>-->
</gazebo> </gazebo>
......
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