Where am I Project BUG

[chedanix]

The friction coefficients are not set properly for the casters because SDF format was used for defining the friction. But take a look at udacity_bot.xacro, the tag is not declared. As a result the caster wheels still have a non-zero default friction coefficient. This leads to bumpy movement or rover not moving in a straight line. I have done experiments on my model, and so I am pretty certain about this.

[chedanix]

I found a way to fix it. 1) remove front and back casters from the "chassis" link. 2) define two links: front caster and back caster 3) define two joints from chassis to casters 4) in udacity_bot.gazebo, add following for each caster < gazebo reference="xxx_caster" > < mu1>0.0< /mu1> < mu2>0.0< /mu2> < /gazebo>

You might be wondering. Instead of doing all the steps above, can we just add the following to udacity_bot.gazebo? < gazebo reference="chassis"> < mu1>0.0< /mu1> < mu2>0.0< /mu2> < /gazebo> It didn't work for me. You can try though.

[sahiljuneja]

Thanks for reporting this. I will cross-check on this soon and update accordingly!