Xacro Implementation for Wheel Friction

m7mdharon

Nov 10th, 2025

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<xacro:macro name="wheel_friction" params="link">
<gazebo reference="${link}">
<collision>
<surface>
<friction>
<ode>
<mu>2.0</mu>
<mu2>2.0</mu2>
<slip1>0.1</slip1>
<slip2>0.05</slip2>
</ode>
</friction>
<contact>
<ode>
<kp>1e6</kp>
<kd>1000</kd>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
</gazebo>
</xacro:macro>

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<xacro:macro name="wheel_friction" params="link">
    <gazebo reference="${link}">
        <collision>
            <surface>
                <friction>
                    <ode>
                        <mu>2.0</mu>       
                        <mu2>2.0</mu2>     
                        
                        <slip1>0.1</slip1> 
                        <slip2>0.05</slip2>                         
                    </ode>
                </friction>
                
                
                <contact>
                    <ode>
                        <kp>1e6</kp>       
                        <kd>1000</kd>      
                        <min_depth>0.001</min_depth> 
                    </ode>
                </contact>
            </surface>
        </collision>
    </gazebo>
</xacro:macro>