Correct physic property names for newer gazebo

Author: Victor Lopez

pmb2_description/urdf/wheels/caster.gazebo.xacro

@@ -17,30 +17,46 @@
     <gazebo reference="caster_${side}_1_link">
       <kp>100000000.0</kp>
       <kd>10.0</kd>
-      <mu1>0.1</mu1>
-      <mu2>0.1</mu2>
+      <friction>
+        <ode>
+          <mu>1.0</mu>
+          <mu2>1.0</mu2>
+        </ode>
+      </friction>
       <!--<fdir1>1 0 0</fdir1>-->
-      <maxVel>10.0</maxVel>
-      <minDepth>0.0005</minDepth>
+      <max_vel>10.0</max_vel>
+      <min_depth>0.0005</min_depth>
       <material>Gazebo/DarkGrey</material>
     </gazebo>
 
     <gazebo reference="caster_${side}_2_link">
-      <kp>10000000.0</kp>
+      <kp>100000000.0</kp>
       <kd>10.0</kd>
-      <mu1>0.1</mu1>
-      <mu2>0.1</mu2>
+      <friction>
+        <ode>
+          <mu>1.0</mu>
+          <mu2>1.0</mu2>
+        </ode>
+      </friction>
       <!--<fdir1>1 0 0</fdir1>-->
-      <maxVel>10.0</maxVel>
-      <minDepth>0.0005</minDepth>
+      <max_vel>10.0</max_vel>
+      <min_depth>0.0005</min_depth>
       <material>Gazebo/DarkGrey</material>
     </gazebo>
 
     <gazebo reference="caster_{side}_1_joint">
-      <implicitSpringDamper>0</implicitSpringDamper>
+      <physics>
+        <ode>
+          <implicit_spring_damper>0</implicit_spring_damper>
+        </ode>
+      </physics>
     </gazebo>
     <gazebo reference="caster_{side}_2_joint">
-      <implicitSpringDamper>0</implicitSpringDamper>
+      <physics>
+        <ode>
+          <implicit_spring_damper>0</implicit_spring_damper>
+        </ode>
+      </physics>
     </gazebo>
 
   </xacro:macro>

pmb2_description/urdf/wheels/wheel.gazebo.xacro

@@ -16,19 +16,23 @@
     <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>
+      <friction>
+        <ode>
+          <mu>1.0</mu>
+          <mu2>1.0</mu2>
+        </ode>
+      </friction>
       <!--<fdir1>1 0 0</fdir1>-->
-      <maxVel>1.0</maxVel>
-      <minDepth>0.002</minDepth>
+      <max_vel>1.0</max_vel>
+      <min_depth>0.002</min_depth>
       <material>Gazebo/DarkGrey</material>
     </gazebo>
     <gazebo reference="wheel_{side}_joint">
-      <implicitSpringDamper>1</implicitSpringDamper>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
     </gazebo>
   </xacro:macro>