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WheelSlipParametersCmd: add friction #464

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merged 2 commits into from
Oct 3, 2024
Merged

WheelSlipParametersCmd: add friction #464

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7b420e4
WheelSlipParametersCmd: add friction
scpeters Sep 17, 2024
dcb2753
Merge branch 'main' into scpeters/wheel_slip_parameters_cmd_friction
scpeters Oct 3, 2024
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11 changes: 11 additions & 0 deletions proto/gz/msgs/wheel_slip_parameters_cmd.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
}