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gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
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Simulate omni-wheels #967

Open osrf-migration opened 10 years ago

osrf-migration commented 10 years ago

Original report (archived issue) by Nate Koenig (Bitbucket: Nathan Koenig).

Is it possible to specify a vector for traction so we could model omni-wheels (i.e. have traction in line with rotation but none in the scrub direction)?

osrf-migration commented 10 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

I suppose one could have two overlapping collocated spheres/cylinders as wheels, each with only one non-zero friction coefficient for a different direction (preferably orthogonal?). For example, sphere 1 has mu = 1 and mu2 = 0, while sphere 2 has mu1 = 0 and mu2 = 1. This way one could drive the two sphere separately to simulate omnidirectional driving.

On the other hand, I have a physically modeled omni wheel, adding it to gazebo_models.

osrf-migration commented 8 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).