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The way I solved this problem was to drastically increase the effort value in the <limit> tag for the wheel joints. I wrote my controller for those wheels using a PID controller (located in the control_toolbox package). I use this PID controller to control the speed of the wheels. Since the controller subscribes to cmd_vel, the PID will continue to increase the motor power to maintain the desired velocity.

You could also try adding the following inside of your transmission descriptions:

<motorTorqueConstant>200.0</motorTorqueConstant>

You'll have to figure out what value works best for you.