<?xml version="1.0"?>

<!--
  Copyright (c) 2011, PAL Robotics, S.L.
  All rights reserved.

  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->

<robot xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:macro name="wheel_gazebo" params="side">
    <!-- Contact model for the wheel surface -->
    <gazebo reference="wheel_${side}_link">
      <kp>1000000.0</kp>
      <kd>100.0</kd>
      <!--
      <mu1>10.0</mu1>
      <mu2>10.0</mu2>
      -->
      <mu1>100000000000000.0</mu1>
      <mu2>100000000000000.0</mu2>
      <!--<fdir1>1 0 0</fdir1>-->
      <maxVel>1.0</maxVel>
      <minDepth>0.002</minDepth>
      <material>Gazebo/DarkGrey</material>
    </gazebo>
    <gazebo reference="wheel_{side}_joint">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>
  </xacro:macro>

</robot>
