From b73e7c8a8c5ac3d6517029b9e8d403a6e32453a4 Mon Sep 17 00:00:00 2001
From: Vincent Belpois <vincent.belpois@gmail.com>
Date: Wed, 17 Jan 2024 10:23:48 +0100
Subject: [PATCH 1/2] Changed mu1

---
 src/ezbot_descr_simul/description/robot_core.xacro | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/ezbot_descr_simul/description/robot_core.xacro b/src/ezbot_descr_simul/description/robot_core.xacro
index f4e96e2..e7169eb 100644
--- a/src/ezbot_descr_simul/description/robot_core.xacro
+++ b/src/ezbot_descr_simul/description/robot_core.xacro
@@ -251,7 +251,7 @@
     <gazebo reference="roue_droite">
         <material>Gazebo/Blue</material>
         <fdir1>1 0 0</fdir1>
-        <mu1>1.0</mu1>
+        <mu1>0.9</mu1>
         <mu2>0.1</mu2>
     </gazebo>
 
@@ -285,7 +285,7 @@
     <gazebo reference="roue_gauche">
         <material>Gazebo/Blue</material>
         <fdir1>1 0 0</fdir1>
-        <mu1>1.0</mu1>
+        <mu1>0.9</mu1>
         <mu2>0.1</mu2>
     </gazebo>
 
@@ -319,7 +319,7 @@
     <gazebo reference="roue_avant">
         <material>Gazebo/Blue</material>
         <fdir1>1 0 0</fdir1>
-        <mu1>1.0</mu1>
+        <mu1>0.9</mu1>
         <mu2>0.1</mu2>
     </gazebo>
 
@@ -353,7 +353,7 @@
     <gazebo reference="roue_arriere">
         <material>Gazebo/Blue</material>
         <fdir1>1 0 0</fdir1>
-        <mu1>1.0</mu1>
+        <mu1>0.9</mu1>
         <mu2>0.1</mu2>
     </gazebo>
 

From cd837816404bf22777af236f22f2ce519e20da8b Mon Sep 17 00:00:00 2001
From: Vincent Belpois <vincent.belpois@gmail.com>
Date: Wed, 17 Jan 2024 11:53:03 +0100
Subject: [PATCH 2/2] Added min_depth tag to (almost) eliminate the robot from
 drifting

---
 .../description/robot_core.xacro              | 36 +++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/src/ezbot_descr_simul/description/robot_core.xacro b/src/ezbot_descr_simul/description/robot_core.xacro
index e7169eb..ce30b0f 100644
--- a/src/ezbot_descr_simul/description/robot_core.xacro
+++ b/src/ezbot_descr_simul/description/robot_core.xacro
@@ -253,6 +253,15 @@
         <fdir1>1 0 0</fdir1>
         <mu1>0.9</mu1>
         <mu2>0.1</mu2>
+        <collision>
+            <surface>
+                <contact>
+                <ode>
+                    <min_depth>0.01</min_depth>
+                </ode>
+                </contact>
+            </surface>
+        </collision>
     </gazebo>
 
     <!--roue gauche-->
@@ -287,6 +296,15 @@
         <fdir1>1 0 0</fdir1>
         <mu1>0.9</mu1>
         <mu2>0.1</mu2>
+        <collision>
+            <surface>
+                <contact>
+                <ode>
+                    <min_depth>0.01</min_depth>
+                </ode>
+                </contact>
+            </surface>
+        </collision>
     </gazebo>
 
     <!--roue avant-->
@@ -321,6 +339,15 @@
         <fdir1>1 0 0</fdir1>
         <mu1>0.9</mu1>
         <mu2>0.1</mu2>
+        <collision>
+            <surface>
+                <contact>
+                <ode>
+                    <min_depth>0.01</min_depth>
+                </ode>
+                </contact>
+            </surface>
+        </collision>
     </gazebo>
 
     <!--roue arriere-->
@@ -355,6 +382,15 @@
         <fdir1>1 0 0</fdir1>
         <mu1>0.9</mu1>
         <mu2>0.1</mu2>
+        <collision>
+            <surface>
+                <contact>
+                <ode>
+                    <min_depth>0.01</min_depth>
+                </ode>
+                </contact>
+            </surface>
+        </collision>
     </gazebo>
 
 </robot>