# Pepper model falls at startup

Hello!

I've been recently playing with the official ROS simulated Pepper in Gazebo and I'm facing a little problem. When I launch the example (using roslaunch) and start the simulation, the robot starts falling very slowly ( here's a video showing the problem).

The only error trace that roslaunch shows is:

[ERROR] [1515588569.033999191]: GazeboRosDiffDrive Plugin missing <legacyMode>, defaults to true
This setting assumes you have a old package, where the right and left wheel are changed to fix a former code issue
To get rid of this error just set <legacyMode> to false if you just created a new package.
To fix an old package you have to exchange left wheel by the right wheel.
If you do not want to fix this issue in an old package or your z axis points down instead of the ROS standard defined in REP 103
just set <legacyMode> to true.


I'm working with ROS Kinetic and Gazebo 7.9.0. The model I'm using is the one included in the debian packages for ROS kinetic.

Am I doing something wrong? Or am I missing a package or something?