Spawning my URDF file in gazebo

I am just wondering if the robot as seen in the picture below has the wheel partially sinking inside the floor would cause to be a problem?

I know if I increase my radius of collision geometry, it will fix the issue, but if I am correct the collision geometry is the one that will act as the main body of the robot parts and the properties such as friction and stiffness is applied to the collision geometry not to the mesh itself.

Please correct me if I am wrong.
If I am wrong what should the accuracy of the collision geometry be for it to replicate the exact size of the wheel itself.

Thank You

My guess is that you are right, it’s sinking because the collision properties of the wheels have a smaller radius than the visual properties.

You should not have a problem by increasing the collision radius.

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