ROS2 Foxy Gazebo Turtlebot3 swings on obstacles

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Hello,

I tried to use Turtlebot3 in simulation using ROS2 Foxy and Gazebo. For example using this command:

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

and moving the robot implies that the robot swings when hurting obstacles.

I often used simulation in ROS1 noetic with my students and had not this problem. And in real world using burger or waffle, I never had problem of robot oscillating on obstacles. In practice their speed (0.22m/s for burger and 0.26m/s for waffle) is not enough for the robot to swing on obstacles.

Hope someone can help me to understand.

Have a nice day.

Goupil