I imported a model in webots simulation from URDFs in ROS. The robot is a tricycle drive with 3 castor wheels. I have followed the wheel style as in the webots style guide and changed accordingly. My problem is that when I run the simulation the robot's wheels drops off the floor and is not able to move. Just chassis is on the floor and the wheels hangs down.
Your robot is probably too heavy for the physics configuration.
You can fix this by changing the fields values of the WorldInfo node (https://www.cyberbotics.com/doc/reference/worldinfo). Here are the important fields:
Here is an example of contact properties:
ContactProperties {
material2 "MyRobotWheelContactMaterial"
coulombFriction [
8
]
softCFM 1e-5
}