From 095f2ef718fbaeb6b8efcca9713e27dc56c1ced5 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 9 Apr 2020 09:42:01 +0200
Subject: [PATCH] Added the kp and kd parameters to the wheels to avoid
 sliping.

---
 urdf/include/wheel.gazebo | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/urdf/include/wheel.gazebo b/urdf/include/wheel.gazebo
index d1a59a8..f9608ff 100644
--- a/urdf/include/wheel.gazebo
+++ b/urdf/include/wheel.gazebo
@@ -10,8 +10,8 @@
       <selfCollide>true</selfCollide>
       <mu1>100.000000</mu1>
       <mu2>50.000000</mu2>
-<!--      <kp>1e15</kp>-->
-<!--      <kd>1e13</kd>-->
+      <kp>1e15</kp>
+      <kd>1e13</kd>
 <!--      <minDepth>0.01</minDepth>-->
     </gazebo>
 
-- 
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