X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=95957e3c36e4d705d04bfc82b86983bc8fd2bfc8;hp=f50da66a00d57acdc1b1e9dc43582523eeb45b9b;hb=b6377c70569f9df0256dd67d10d3f3905330f802;hpb=2df437a779847070d89c37f8f79776acc5446193

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index f50da66..95957e3 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -165,8 +165,8 @@
 		<gazebo reference="${pos}_${side}_wheel">
 			<mu1 value="1.0"/>
 			<mu2 value="0.2"/>
-			<kp value="1000000.0" />
-			<kd value="1.0" />
+			<kp value="1000000000000.0" />
+			<kd value="0.0" />
 			<fdir1 value="0 1 0"/>
 			<minDepth>0.005</minDepth>
 		</gazebo>
@@ -274,7 +274,7 @@
 					</horizontal>
 				</scan>
 				<range>
-					<min>0.15</min>
+					<min>0.20</min>
 					<max>16.0</max>
 					<resolution>0.01</resolution>
 				</range>