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Hello,

I followed the R2D2 URDF tutorial and constructed a nice R2D2 robot. Now when I drive the robot, R2D2 tilts to his back. It is like his wheels have so much grip, that they run away under his body. I tried different configurations of mu1, mu2, kd, kp but none of it really worked.
Hope this picture makes my problem clear.
And here is my URDF-File
Would be great if somebody has a hint, where to look at, or had a similar problem.


Originally posted by Kaonashi on ROS Answers with karma: 38 on 2017-05-14

Post score: 0

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1 Answer 1

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The tutorial aims to show the basic workings of the interaction with Gazebo, and falls a bit short of presenting a usable robot model. You should be able to drive at a lower speed and have it not tip over. Best of luck.


Originally posted by David Lu with karma: 10932 on 2017-05-16

This answer was ACCEPTED on the original site

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Original comments

Comment by Kaonashi on 2017-05-16:
Thanks for your reply. Do you have any recommendations for a tutorial of a "usable" model? Or any idea, how to make R2D2 usable?

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