I am using ROS kinetic on Ubunto 16.04. I have an omnidirectional robot (https://pt.aliexpress.com/item/328923...) and I am trying to create a package of it, I created its xacro and its model on Gazebo, to study his behaviour on different controlers.

I used the xacro from this github( https://github.com/GuiRitter/OpenBase) as a base, I also created the robot model on the blender and I used an omniwheel model as an stl, I used the gazebo tutorial to discover the inertial parameters (http://gazebosim.org/tutorials?tut=in...) and I also knew the weight of the pieces of the robot (chassis, wheels, rollers). My repository with all the xacros and stl files is https://github.com/yuriloia/erobotica_omnibot .

I used the package "teleopkeyboardomni3 " (http://wiki.ros.org/teleop_keyboard_o... ) to move the robot, but it is not smooth, since when all the wheels had the same velocity it should rotate on its center, but it is rotating in an orbit around the center, I don't know what is the problem, so I need some help to make it work.