Hi
I am trying to create a plugin to implement more complicated tire model like Pacejka model.
I have found a [plugin](https://bitbucket.org/osrf/gazebo/src/c9052404902d461ef768bc2039c75c219db55f9e/plugins/TireFrictionPlugin.cc?at=tire_friction_plugin&fileviewer=file-view-default) which implements a calculation of friction coefficient in depend on a slip ratio. In this plugin contact messages are used to obtain input data namely the slip ration between contact points. Also in this plugin the algorithm applies a calculated friction coefficient to surface by the following lines:
surface->FrictionPyramid()->SetMuPrimary(friction);
surface->FrictionPyramid()->SetMuSecondary(friction);
However, I would like to calculate longitudinal and lateral forces separately in my plugin. Then I would like to apply these forces directly to tire(wheel) body.
How can I do it? In this case should I disable regular contact forces and how can I do it?
Maybe I am on a wrong way completely and there is another way to implement tire model in Gazebo?
with regards,
Alex
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