Gazebo 0.9 Pioneer2dx unstable motion

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Gazebo 0.9 Pioneer2dx unstable motion

Julio M. Vega Perez
   Hi everyone,

   I'm having several problems when I launch gazebo with any world  
file, because the robot motion is not coherent. I mean, when I command  
velocity values just to go ahead, robot gets unbalance and after a few  
meters it falls over one side.

   I don't know if it's because of the pioneer2dx model or weights or  
physics or something like that... This is my world file:

<?xml version="1.0"?>



     <gravity>0 0 -9.8</gravity>

     <size>800 600</size>
     <pos>0 0</pos>

       <row height="100%">
         <camera width="100%">
           <xyz>0.35 -0.5 0.43</xyz>
           <rpy>0 14 111.5</rpy>

     <ambient>0.5 0.5 0.5 1.0</ambient>

    <!-- Ground Plane -->
   <model:physical name="plane1_model">
     <xyz>0 0 0</xyz>
     <rpy>0 0 0</rpy>

     <body:plane name="plane1_body">
       <geom:plane name="plane1_geom">
         <normal>0 0 1</normal>
         <size>2000 2000</size>
         <segments>10 10</segments>
         <uvTile>100 100</uvTile>

   <model:physical name="cylinder1_model">
     <xyz>1 -1.5 0.5</xyz>
     <rpy>0.0 0.0 0.0</rpy>

     <body:cylinder name="cylinder1_body">
       <geom:cylinder name="cylinder1_geom">
         <size>0.5 1</size>

   <model:physical name="pioneer2dx_model1">
     <xyz>0 0 0.145</xyz>
     <rpy>0.0 0.0 0.0</rpy>

     <model:physical name="laser">
       <xyz>0.15 0 0.18</xyz>


       <include embedded="true">
         <xi:include href="models/sicklms200.model" />
     <model:physical name="sonyvid30_model">
       <xyz>0.15 0 0.28</xyz>


       <include embedded="true">
         <xi:include href="models/sonyvid30.model" />
     The include should be last within a model. All previous statements
     will override those in the included file
     <include embedded="true">
       <xi:include href="models/pioneer2dx.model" />

   <!-- White Directional light -->
   <model:renderable name="directional_white">
     <xyz>2.0 0 2.0</xyz>

       <spotCone>1000 1000 100</spotCone>
       <direction>-0.1 0 -0.9</direction>
       <diffuseColor>0.8 0.8 0.8</diffuseColor>
       <specularColor>0.1 0.1 0.1</specularColor>

       <!-- Constant(0-1) Linear(0-1) Quadratic -->
       <attenuation>1.0 0.0 0</attenuation>


   Thanks in advance,


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