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These issues are usually caused by friction parameters. It appears that you are using dead-reckoning for rotation. There is a longer discussion about this for husky robots.

Check PR 191 on how I tried to get this working by adjusting friction parameters in wheel.xacro file.

These issues are usually caused by friction parameters. It appears that you are using dead-reckoning for rotation. There is a longer discussion about this for husky robots.

Check PR 191 on how I tried to get this working by adjusting friction parameters in wheel.xacro ~~file.~~file. Check mu1/mu2 parameters.

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