Pioneer 3AT capsize in Gazebo whenever collide with wall

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Aug 18, 2015, 3:57:49 AM8/18/15

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I have a Pioneer 3AT in Gazebo working. During teleop whenever it collide with a wall it turn over why is it so. Do i need to cj=hange something in xacro file.

https://github.com/dawonn/ros-pioneer3at/blob/master/urdf/pioneer3at.xacro

Thanks

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Aug 19, 2015, 4:01:56 PM8/19/15

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You can adjust the mass and inertial parameters a bit, that helped for me (my URDF [xacro] is https://github.com/MobileRobots/amr-ros-config/blob/master/description/urdf/pioneer3at.urdf.xacro). A P3AT with three batteries is 21.5 kg. Each wheel with tire is 1.4 kg.