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I fixed it after 40 hours of wasted time in trying to get the diff_drive to work, by switching to a skid_drive gazebo plugin, this was giving me good odometry values, but was extremely slow.

Then after even more hours, I used an omni_steering, with a planar_move.so controller, an it was working, but it was sliding on the map rather than moving correctly, because my base wasn't omni-wheel. I added 2 more wheels and made it 8 total, 4 on each side, and now it works perfectly fine. Extremely weird problem and fix.