Hi all,
i am using gz sim to simulate a mecanum mobile robot.
Starting from the xacro file, I generate an urdf that I load into gazebo with “ros_gz_sim create” from a launcher.
Everything loads correctly but the robot won’t navigate correctly because I cant add the
<fdir1 ignition:expressed_in='chassis'>1 -1 0</fdir1>
into the urdf, because xacro complains about the “ignition:” part.
Is there a way to embed this into the urdf, or I have to work only with the sdf ?
I also expect the keyword ignition to have changed in gz sim, is there a new keyword ?
The actual urdf/xacro code in which io specify the wheel link properties looks like this now:
<gazebo reference="${prefix}front_left_wheel">
<mu1 value="1.0"/>
<mu2 value="0.0"/>
<collision>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 ignition:expressed_in='base_link'>1 -1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
</gazebo>
Thanks