Continuous joints don't rotate/work

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I am working on a project where I have attached a custom-designed four-wheel cart on the rear axle of the Clearpath Robotics Ridgeback robot. The problem I have is, the continuous joints of the cart-wheels don't rotate as they should. They barely rotate when the robot is gonna come to a stop at a very low speed. As the wheels with continuous joints don't rotate, the cart skids/drifts and affects the direction of the robot and hence the entire system.
However, they do work when I change the joints to revolute, but then the wheels will stop working after the limits are reached. Hence the wheel joints have to be continuous.

I am attaching the video of the issue as well as my launch and urdf files in a folder here - https://drive.google.com/drive/folder...

The empty_world.launch file calls the other respective files in the following order -

empty_world.launch -> empty_world.launch (gazebo_ros); spawn_ridgeback.launch(ridgeback_gazebo) -> description.launch(ridgeback_description); control.launch -> ridgeback.urdf.xacro -> ridgeback.gazebo; cart.urdf.xacro

Please help me investigate and solve the issue. Thanks.

UPDATE 1

I changed the cart-wheel joints to revolute with the following limits -

<joint name="${prefix}_${side}_cart_wheel_joint" type="revolute">

    <parent link="${prefix}_${side}_wheel_holder_mid_link"/>

    <child link="${prefix}_${side}_cart_wheel_link" />

    <axis xyz="0 1 0" />

    <origin xyz="0 ${-(s_location*wheel_width/2)} -0.11" rpy="0 0 0"/>

    <limit lower="-${PI*10000}" upper="${PI*10000}" velocity="0" effort="0"/>

</joint>

This gets the wheels working, and the same limit values with the continuous joint settings also works, but for some reason, the entire system isn't moving in a straight line. There is some kind of skid introduced which I'm not able to figure out. I have added a video labeled "system_skid" in the same drive folder for reference (https://drive.google.com/drive/folder...)

Please help investigate the issue.