关于Gazebo里sdf模型中的摩擦力参数设定
问题是对摩擦力标签下的物理引擎标签<ode>中的<mu><mu2><slip1><slip2>不理解
１．最先看到了下面的sdf官方文档的描述，还是不理解
２.后面在Gazebo教程，ODE文档里找到了<mu><mu2>的相关描述
When two object collide, such as a ball rolling on a plane, a friction term is generated. In ODE this is composed of two parts, '''mu''' and '''mu2''', where:
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'''mu''' is the Coulomb friction coefficient for the first friction direction, and
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'''mu2''' is the friction coefficient for the second friction direction (perpendicular to the first friction direction).
ODE will automatically compute the first and second friction directions for us. Note, you can manually specify the first friction direction in SDF (上图的<fdir1>), but this capability is out of the scope of this tutorial.
The two objects in collision each specify '''mu''' and '''mu2'''. Gazebo will choose the smallest '''mu''' and '''mu2''' from the two colliding objects.
The valid range of values for '''mu''' and '''mu2''' is any non-negative number, where 0 equates to a friction-less contact and a large value approximates a surface with infinite friction.
3.最后为了知道<slip1><slip2>可以看ODE文档和相关博客