Incorrectly functioning skid steering in diif_drive_skid.sdf

[jasiex01]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build? Binary
  Tested both on Fortress and Garden

Description

• Expected behavior: When given only angular velocity (linear velocity is 0) on the Twist topic the robot should more or less turn in place
• Actual behavior: Robot slides around in a weird manner

Steps to reproduce

1. Launch diff_drive_skid.sdf example in either Fortress (ign gazebo diff_drive_skid.sdf) or Garden (gz sim diff_drive_skid.sdf)
2. Start the simulation
3. Publish twist message: ign topic -t "/model/vehicle_blue/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 0.0}, angular: {z: 0.5}" for Fortress or gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.0}, angular: {z: 0.5}"
4. Observe robot's behaviour

Output