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It depends from your architecture. I make you an example. Even if no forces rotate the vehicle, even if you just send a linear velocity command on x axis, if the wheels of the rover are "crooked" then the rover will forcely rotate. For example, simple rovers with 2 wheels and a caster may involve this behaviour.

Then, to avoid that, you shall: - Modifying your rover architecture - Modifying your program in order to: (i) send a linear velocity, (ii) sometime get a pose, (iii) if the pose is 'crooked' then send a little angular velocity command.

It depends from by your architecture. I make you an example. Even if no forces rotate the vehicle, even if you just send a linear velocity command on x axis, if the wheels of the rover are "crooked" then the rover will forcely rotate. For example, simple rovers with 2 wheels and a caster may involve this behaviour.

Then, to avoid that, you shall: - Modifying your rover architecture - Modifying your program in order to: (i) send a linear velocity, (ii) sometime get a pose, (iii) if the pose is 'crooked' then send a little angular velocity command.