Hello,
I followed the [R2D2 URDF tutorial](http://wiki.ros.org/urdf/Tutorials) 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](http://imgur.com/YH9MiEH) makes my problem clear.
And here is my [URDF-File](https://pastebin.com/iTeXJkQ7)
Would be great if somebody has a hint, where to look at, or had a similar problem.
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