use bullet

Author: stevedanomodolor

nav2_minimal_tb3_sim/urdf/gz_waffle_gps.sdf.xacro

@@ -215,23 +215,23 @@
           </geometry>
           <surface>
             <friction>
-              <ode>
+              <bullet>
                 <mu>1</mu>
                 <mu2>1</mu2>
                 <slip1>0.035</slip1>
                 <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
-              </ode>
+              </bullet>
             </friction>
             <contact>
-              <ode>
+              <bullet>
                 <soft_cfm>0</soft_cfm>
                 <soft_erp>0.2</soft_erp>
                 <kp>1e+5</kp>
                 <kd>1</kd>
                 <max_vel>0.01</max_vel>
                 <min_depth>0.001</min_depth>
-              </ode>
+              </bullet>
             </contact>
           </surface>
         </collision>
@@ -275,23 +275,23 @@
           </geometry>
           <surface>
             <friction>
-              <ode>
+              <bullet>
                 <mu>1</mu>
                 <mu2>1</mu2>
                 <slip1>0.035</slip1>
                 <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
-              </ode>
+              </bullet>
             </friction>
             <contact>
-              <ode>
+              <bullet>
                 <soft_cfm>0</soft_cfm>
                 <soft_erp>0.2</soft_erp>
                 <kp>1e+5</kp>
                 <kd>1</kd>
                 <max_vel>0.01</max_vel>
                 <min_depth>0.001</min_depth>
-              </ode>
+              </bullet>
             </contact>
           </surface>
         </collision>
@@ -311,7 +311,7 @@
       </link>
 
       <link name='caster_back_right_link'>
-        <pose>-0.177 -0.064 -0.004 0 0 0</pose>
+        <pose>-0.177 -0.064 -0.004 -1.57 0 0</pose>
         <inertial>
           <mass>0.001</mass>
           <inertia>
@@ -323,29 +323,52 @@
             <izz>0.00001</izz>
           </inertia>
         </inertial>
-        <collision name='collision'>
+        <collision name='caster_back_right_collision'>
           <geometry>
             <sphere>
-              <radius>0.005000</radius>
+              <radius>0.0060000</radius>
             </sphere>
           </geometry>
           <surface>
+            <friction>
+              <bullet>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
+                <fdir1>0 0 1</fdir1>
+              </bullet>
+            </friction>
             <contact>
-              <ode>
+              <bullet>
                 <soft_cfm>0</soft_cfm>
                 <soft_erp>0.2</soft_erp>
                 <kp>1e+5</kp>
                 <kd>1</kd>
                 <max_vel>0.01</max_vel>
                 <min_depth>0.001</min_depth>
-              </ode>
+              </bullet>
             </contact>
           </surface>
         </collision>
+
+        <visual name="sphere_visual">
+          <geometry>
+            <sphere>
+              <radius>0.0060000</radius>
+            </sphere>
+          </geometry>
+          <material>
+            <ambient>0 0 1 1</ambient>
+            <diffuse>0 0 1 1</diffuse>
+            <specular>0 0 1 1</specular>
+          </material>
+        </visual>
       </link>
 
       <link name='caster_back_left_link'>
-        <pose>-0.177 0.064 -0.004 0 0 0</pose>
+        <pose>-0.177 0.064 -0.004 -1.57 0 0</pose>
+
         <inertial>
           <mass>0.001</mass>
           <inertia>
@@ -357,28 +380,50 @@
             <izz>0.00001</izz>
           </inertia>
         </inertial>
-        <collision name='collision'>
+        <collision name='caster_back_left_collision'>
           <geometry>
             <sphere>
-              <radius>0.005000</radius>
+              <radius>0.0060000</radius>
             </sphere>
           </geometry>
           <surface>
+            <friction>
+              <bullet>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
+                <fdir1>0 0 1</fdir1>
+              </bullet>
+            </friction>
             <contact>
-              <ode>
+              <bullet>
                 <soft_cfm>0</soft_cfm>
                 <soft_erp>0.2</soft_erp>
                 <kp>1e+5</kp>
                 <kd>1</kd>
                 <max_vel>0.01</max_vel>
                 <min_depth>0.001</min_depth>
-              </ode>
+              </bullet>
             </contact>
           </surface>
         </collision>
+       <visual name="sphere_visual">
+          <geometry>
+            <sphere>
+              <radius>0.0060000</radius>
+            </sphere>
+          </geometry>
+          <material>
+            <ambient>0 0 1 1</ambient>
+            <diffuse>0 0 1 1</diffuse>
+            <specular>0 0 1 1</specular>
+          </material>
+        </visual>
       </link>
 
       <link name="camera_link">
+        <pose>0.069 -0.047 0.107 0 0 0</pose>
         <inertial>
           <pose>0.069 -0.047 0.107 0 0 0</pose>
           <inertia>