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HI，I just got the same problem，and i fixed it with the following steps: 1.Upside down your model in gazebo with tools in toolsbar. 2.Control the wheels and see if they are turing in right direction. This step is to make sure that your plugin is working fine. 3.Then loose the model weight with the tag "mass". 4.If step 3 doesn't work fine, try to reduce the force param on wheel with tag "mu1 mu2 kd". 5.The final step is to increase the torque in controler plugin.

The following values can be used: robot body: mass = 20 wheel : mu1=1 mu2=1 kd=100

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