Rollover (vehicle overturns) is a problem for many vehicles with a relatively high center of mass. I have observed the following rollover scenarios for my Wild Thumper:

1. When driving downhill
2. When executing a fast forward/backward direction change

The obvious counter measure to avoid these dangerous conditions is to fully reverse speed when detected. The detection can be done with the IMU. So I added a listener for the IMU message and read the pitch angle from it:

• If the pitch is higher then 45° (the robot standing on the front wheels) the rollover protection will drive forward with maximum speed until the situation is resolved.
• If the pitch is lower then 45° (the robot standing on the back wheels) the rollover protection will drive backward with maximum speed.

No obstacles checks done. Lets hope that this will prevent the wild thumper from overturning ever again..