From 7b420e49fe031bfb73a74321dee1d539de956706 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Tue, 17 Sep 2024 13:14:06 -0700 Subject: [PATCH] WheelSlipParametersCmd: add friction This adds lateral and longitudinal friction parameters to the WheelSlipParametersCmd message to match the parameters supported in the gazebo_ros_wheel_slip plugin. Signed-off-by: Steve Peters --- proto/gz/msgs/wheel_slip_parameters_cmd.proto | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/proto/gz/msgs/wheel_slip_parameters_cmd.proto b/proto/gz/msgs/wheel_slip_parameters_cmd.proto index 00ab5c2f..06ce7b13 100644 --- a/proto/gz/msgs/wheel_slip_parameters_cmd.proto +++ b/proto/gz/msgs/wheel_slip_parameters_cmd.proto @@ -69,4 +69,15 @@ message WheelSlipParametersCmd /// the linear wheel spin velocity and divided by the wheel normal force /// parameter specified in the sdf. double slip_compliance_longitudinal = 5; + + /// \brief Lateral friction coefficient. + /// + /// Friction coefficient that should be applied with the pyramid friction + /// model in the lateral wheel direction. + double friction_lateral = 6; + /// \brief Longitudinal friction coefficient. + /// + /// Friction coefficient that should be applied with the pyramid friction + /// model in the longitudinal wheel direction. + double friction_longitudinal = 7; }