a realtime continuous track simulation for the Gazebo simulator & ROS with explicit consideration of friction and grouser geometry
Y. Okada, S. Kojima, K. Ohno and S. Tadokoro, "Real-time Simulation of Non-Deformable Continuous Tracks with Explicit Consideration of Friction and Grouser Geometry," 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020