Differential drive can't turn

edit

Hi, I am trying to do simulate a differential robot (It's based on a real robot, so I can't change the position of things ). The robot got 2 motorized wheels and 3 casters wheels places as such :

The caster wheels don't have friction or joints, the mains wheels can touch the ground, and when I make it go straight the robot move. The problem is that when I when it to rotate (angular speed on Z ) the wheels rotates normally (each in opposite direction) but the robot doesn't move (the wheels accelerate at a moment, making it go forward then reverse to go back to the initial position, I guess it's the controller trying to fix it )

The urdf of the robot : https://pastebin.com/BKXvftYT

The wheels and casters (they are xacro's macro: https://pastebin.com/X56upVk0

And the control.yaml :

evt1_joint_publisher:
type: "joint_state_controller/JointStateController"
publish_rate: 50

evt1_velocity_controller:
  type: "diff_drive_controller/DiffDriveController"
  left_wheel: 'wheel_left_joint'
  right_wheel: 'wheel_right_joint'
  publish_rate: 50
  pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  cmd_vel_timeout: 0.25
  velocity_rolling_window_size: 2

  # Base frame_id
  base_frame_id: base_footprint

  # Odometry fused with IMU is published by robot_localization, so
  # no need to publish a TF based on encoders alone.
 enable_odom_tf: true

 # Husky hardware provides wheel velocities
 estimate_velocity_from_position: false

 # Wheel separation and radius multipliers
wheel_separation_multiplier: 1.0 # default: 1.0
 wheel_radius_multiplier    : 1.0 # default: 1.0
 wheel_separation           : 0.434
 wheel_radius               : 0.100   

 # Velocity and acceleration limits
 # Whenever a min_* is unspecified, default to -max_*
 linear:
   x:
     has_velocity_limits    : false
     max_velocity           : 1.0  # m/s
     min_velocity           : -0.5 # m/s
     has_acceleration_limits: false
     max_acceleration       : 0.8  # m/s^2
     min_acceleration       : -0.4 # m/s^2
     has_jerk_limits        : false
     max_jerk               : 5.0  # m/s^3
 angular:
   z:
     has_velocity_limits    : false
     max_velocity           : 1.7  # rad/s
     has_acceleration_limits: false
     max_acceleration       : 1.5  # rad/s^2
     has_jerk_limits        : false
     max_jerk               : 2.5  # rad/s^3

the problem seems to be that the wheels don't stay straight (rotate on X ? ) and switch their contact, I don't know what cause it to occurs, or how to fix it. I tried a lot of things and can't figure out why this won't work. (I had made a robot with a different appearance, and it didn't have this type of behavior).

As anyone encounters that type of problems or know what can be the cause?

Thanks,

Jérémy

edit: the comment from kumpakri saying to remove the fdir seems to have made the robot work. I updated the codes in the question, I will verify if all work normally Monday but it looks like it was the source of the problem.