Hello,
I've used ROS for quite a while, but I'm not familiar with Gazebo.
Recently I build a double wheel robot and use diff drive plugin in Gazebo.
The problem is when I suddenly publish a dramatic speed change, the robot would skid.
I tried to modify collision, mu and other properties of the wheel and hinge, and I've checked that the robot is bilateral symmetric of physical params, but it still slips when the acceleration is high.
Here is the video.
[https://youtu.be/EhVr9Z1Hm2s](https://youtu.be/EhVr9Z1Hm2s)
And my github repo.
[https://github.com/sychaichangkun/xbot2_description](https://github.com/sychaichangkun/xbot2_description)
To launch it, type
roslaunch xbot2_description gazebo.launch
rosrun xbot2_description xbot2_keyboard_teleop.py
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